master/pdo.h
author Florian Pose <fp@igh-essen.com>
Mon, 10 Sep 2007 12:47:03 +0000
changeset 710 8fc23cb118be
parent 627 4793ca94f082
child 792 3778920f61e4
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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   \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 "globals.h"
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/*****************************************************************************/
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/**
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 * PDO type.
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 */
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typedef enum
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{
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    EC_RX_PDO, /**< Reveive PDO */
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    EC_TX_PDO /**< Transmit PDO */
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}
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ec_pdo_type_t;
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/*****************************************************************************/
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/**
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 * PDO description.
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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_pdo_type_t type; /**< PDO type */
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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; /**< entry list */
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}
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ec_pdo_t;
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/*****************************************************************************/
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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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{
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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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}
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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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void ec_pdo_clear(ec_pdo_t *);
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int ec_pdo_copy(ec_pdo_t *, const ec_pdo_t *);
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/*****************************************************************************/
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#endif