1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   Vendor-specific-over-EtherCAT protocol handler.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_VOE_HANDLER_H__

    42

#define __EC_VOE_HANDLER_H__

    43

    44

#include <linux/list.h>

    45

    46

#include "globals.h"

    47

#include "datagram.h"

    48

    49

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

    50

    51

/** Vendor-specific-over-EtherCAT handler.

    52

 */

    53

struct ec_voe_handler {

    54

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

    55

    ec_slave_config_t *config; /**< Parent slave configuration. */

    56

    ec_datagram_t datagram; /**< State machine datagram. */

    57

    uint32_t vendor_id; /**< Vendor ID for the header. */

    58

    uint16_t vendor_type; /**< Vendor type for the header. */

    59

    size_t data_size; /**< Size of Sdo data. */

    60

    ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to

    61

                          the slave, EC_DIR_INPUT means reading from the

    62

                          slave. */

    63

    void (*state)(ec_voe_handler_t *); /**< State function */

    64

    ec_internal_request_state_t request_state; /**< Handler state. */

    65

    unsigned int retries; /**< retries upon datagram timeout */

    66

    unsigned long jiffies_start; /**< Timestamp for timeout calculation. */

    67

};

    68

    69

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

    70

    71

int ec_voe_handler_init(ec_voe_handler_t *, ec_slave_config_t *, size_t);

    72

void ec_voe_handler_clear(ec_voe_handler_t *);

    73

size_t ec_voe_handler_mem_size(const ec_voe_handler_t *);

    74

    75

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

    76

    77

#endif