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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 structures.

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*/

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/*****************************************************************************/

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#ifndef _EC_CANOPEN_H_

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#define _EC_CANOPEN_H_

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#include <linux/list.h>

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#include <linux/kobject.h>

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#include "globals.h"

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#include "slave.h"

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/*****************************************************************************/

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/**

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   CANopen Sdo.

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*/

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struct ec_sdo

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{

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    struct kobject kobj; /**< kobject */

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    struct list_head list; /**< list item */

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    ec_slave_t *slave; /**< parent slave */

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    uint16_t index; /**< Sdo index */

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    uint8_t object_code; /**< object code */

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    char *name; /**< Sdo name */

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    uint8_t subindices; /**< subindices */

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    struct list_head entries; /**< entry list */

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};

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/*****************************************************************************/

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/**

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   CANopen Sdo entry.

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*/

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typedef struct

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{

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    struct kobject kobj; /**< kobject */

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    struct list_head list; /**< list item */

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    ec_sdo_t *sdo; /**< parent Sdo */

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    uint8_t subindex; /**< entry subindex */

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    uint16_t data_type; /**< entry data type */

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    uint16_t bit_length; /**< entry length in bit */

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    char *description; /**< entry description */

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}

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ec_sdo_entry_t;

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/*****************************************************************************/

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/**

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   CANopen Sdo configuration data.

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*/

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typedef struct

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{

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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 size; /**< size of Sdo data */

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}

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ec_sdo_data_t;

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/*****************************************************************************/

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/**

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   CANopen Sdo request.

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*/

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typedef struct

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{

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    struct list_head list; /**< list item */

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    ec_sdo_entry_t *entry; /**< Sdo entry */

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    uint8_t *data; /**< pointer to Sdo data */

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    size_t size; /**< size of Sdo data */

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    ec_request_state_t state; /**< Sdo request state */

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}

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ec_sdo_request_t;

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/*****************************************************************************/

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int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);

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void ec_sdo_destroy(ec_sdo_t *);

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ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);

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int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);

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void ec_sdo_entry_destroy(ec_sdo_entry_t *);

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void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_entry_t *);

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void ec_sdo_request_clear(ec_sdo_request_t *);

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/*****************************************************************************/

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#endif