master/soe_request.h
author Florian Pose <fp@igh-essen.com>
Thu, 06 Sep 2012 19:52:17 +0200
branchstable-1.5
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parent 1952 7d9fb723fc4b
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) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT SoE request structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_SOE_REQUEST_H__
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#define __EC_SOE_REQUEST_H__
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#include <linux/list.h>
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#include "globals.h"
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/*****************************************************************************/
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/** Sercos-over-EtherCAT request.
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 */
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typedef struct {
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    struct list_head list; /**< List item. */
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    uint8_t drive_no; /**< Drive number. */
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    uint16_t idn; /**< Sercos ID-Number. */
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    ec_al_state_t al_state; /**< AL state (only valid for IDN config). */
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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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    ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to the
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                          slave, EC_DIR_INPUT means reading from the slave. */
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    ec_internal_request_state_t state; /**< Request state. */
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    unsigned long jiffies_sent; /**< Jiffies, when the upload/download
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                                     request was sent. */
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    uint16_t error_code; /**< SoE error code. */
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} ec_soe_request_t;
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/*****************************************************************************/
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void ec_soe_request_init(ec_soe_request_t *);
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void ec_soe_request_clear(ec_soe_request_t *);
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int ec_soe_request_copy(ec_soe_request_t *, const ec_soe_request_t *);
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void ec_soe_request_set_drive_no(ec_soe_request_t *, uint8_t);
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void ec_soe_request_set_idn(ec_soe_request_t *, uint16_t);
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int ec_soe_request_alloc(ec_soe_request_t *, size_t);
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int ec_soe_request_copy_data(ec_soe_request_t *, const uint8_t *, size_t);
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int ec_soe_request_append_data(ec_soe_request_t *, const uint8_t *, size_t);
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void ec_soe_request_read(ec_soe_request_t *);
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void ec_soe_request_write(ec_soe_request_t *);
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/*****************************************************************************/
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#endif