author | Florian Pose <fp@igh-essen.com> |
Wed, 23 Jul 2008 07:22:47 +0000 | |
changeset 1132 | 481b49560c11 |
parent 1037 | 59f191c9185b |
child 1209 | 8be462afb7f4 |
child 1676 | 6ad30897a9dc |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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|
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/** |
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\file |
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Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
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EtherCAT CANopen Sdo request structure. |
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*/ |
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|
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/*****************************************************************************/ |
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#ifndef __EC_SDO_REQUEST_H__ |
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#define __EC_SDO_REQUEST_H__ |
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|
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#include <linux/list.h> |
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#include "../include/ecrt.h" |
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#include "globals.h" |
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|
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/*****************************************************************************/ |
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|
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/** CANopen Sdo request. |
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Reading of Pdo mapping via CoE during scan.
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*/ |
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struct ec_sdo_request { |
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struct list_head list; /**< List item. */ |
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uint16_t index; /**< Sdo index. */ |
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uint8_t subindex; /**< Sdo subindex. */ |
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uint8_t *data; /**< Pointer to Sdo data. */ |
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size_t mem_size; /**< Size of Sdo data memory. */ |
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size_t data_size; /**< Size of Sdo data. */ |
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uint32_t issue_timeout; /**< Maximum time in ms, the processing of the |
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request may take. */ |
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uint32_t response_timeout; /**< Maximum time in ms, the transfer is |
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retried, if the slave does not respond. */ |
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ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means downloading to |
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the slave, EC_DIR_INPUT means uploading from the |
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slave. */ |
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ec_request_state_t state; /**< Sdo request state. */ |
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unsigned long jiffies_start; /**< Jiffies, when the request was issued. */ |
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unsigned long jiffies_sent; /**< Jiffies, when the upload/download |
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request was sent. */ |
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uint32_t abort_code; /**< Sdo request abort code. Zero on success. */ |
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}; |
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/*****************************************************************************/ |
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Separated ec_sdo_request_init() and ec_sdo_request_read().
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void ec_sdo_request_init(ec_sdo_request_t *); |
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void ec_sdo_request_clear(ec_sdo_request_t *); |
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void ec_sdo_request_address(ec_sdo_request_t *, uint16_t, uint8_t); |
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int ec_sdo_request_alloc(ec_sdo_request_t *, size_t); |
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int ec_sdo_request_copy_data(ec_sdo_request_t *, const uint8_t *, size_t); |
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int ec_sdo_request_timed_out(const ec_sdo_request_t *); |
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/*****************************************************************************/ |
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#endif |