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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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   \file

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   EtherCAT CANopen Sdo request structure.

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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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#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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/** CANopen Sdo request.

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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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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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int ec_sdo_request_copy(ec_sdo_request_t *, const 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