master/canopen.h
author Florian Pose <fp@igh-essen.com>
Wed, 12 Sep 2007 14:07:28 +0000
changeset 720 9664a19978dd
parent 646 fbbd4e54e031
child 739 4a02162a6301
permissions -rw-r--r--
Removed measure_bus_time().
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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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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_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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ec_sdo_t;
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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_t *sdo;
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    ec_sdo_entry_t *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;
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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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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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/*****************************************************************************/
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#endif