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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 Process data object structure.

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*/

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

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#ifndef __EC_PDO_H__

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#define __EC_PDO_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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/** Pdo description.

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 */

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typedef struct {

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

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    ec_direction_t dir; /**< Pdo direction. */

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    uint16_t index; /**< Pdo index. */

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    int8_t sync_index; /**< Assigned sync manager. */

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    char *name; /**< Pdo name. */

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    struct list_head entries; /**< List of Pdo entries. */

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    unsigned int default_config; /**< The entries contain the default Pdo

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                                   configuration. */

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} ec_pdo_t;

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

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/** Pdo entry description.

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 */

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typedef struct {

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

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    uint16_t index; /**< Pdo entry index */

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    uint8_t subindex; /**< Pdo entry subindex */

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    char *name; /**< entry name */

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    uint8_t bit_length; /**< entry length in bit */

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} ec_pdo_entry_t;

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

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void ec_pdo_init(ec_pdo_t *);

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int ec_pdo_init_copy(ec_pdo_t *, const ec_pdo_t *);

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void ec_pdo_clear(ec_pdo_t *);

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void ec_pdo_clear_entries(ec_pdo_t *);

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int ec_pdo_set_name(ec_pdo_t *, const char *);

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ec_pdo_entry_t *ec_pdo_add_entry(ec_pdo_t *, uint16_t, uint8_t, uint8_t);

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int ec_pdo_copy_entries(ec_pdo_t *, const ec_pdo_t *);

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int ec_pdo_equal_entries(const ec_pdo_t *, const ec_pdo_t *);

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void ec_pdo_entry_init(ec_pdo_entry_t *);

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int ec_pdo_entry_init_copy(ec_pdo_entry_t *, const ec_pdo_entry_t *);

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void ec_pdo_entry_clear(ec_pdo_entry_t *);

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int ec_pdo_entry_set_name(ec_pdo_entry_t *, const char *);

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int ec_pdo_entry_equal(const ec_pdo_entry_t *, const ec_pdo_entry_t *);

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

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#endif