author | Florian Pose <fp@igh-essen.com> |
Wed, 22 Oct 2008 10:31:34 +0000 | |
changeset 1293 | a2a03519ee47 |
parent 1264 | e7882f246d7a |
child 1326 | ef907b0b5125 |
permissions | -rw-r--r-- |
1209 | 1 |
/****************************************************************************** |
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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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Vendor-specific-over-EtherCAT protocol handler. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_VOE_HANDLER_H__ |
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#define __EC_VOE_HANDLER_H__ |
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#include <linux/list.h> |
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#include "globals.h" |
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#include "datagram.h" |
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/*****************************************************************************/ |
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/** Vendor-specific-over-EtherCAT handler. |
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*/ |
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struct ec_voe_handler { |
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struct list_head list; /**< List item. */ |
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ec_slave_config_t *config; /**< Parent slave configuration. */ |
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ec_datagram_t datagram; /**< State machine datagram. */ |
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uint32_t vendor_id; /**< Vendor ID for the header. */ |
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uint16_t vendor_type; /**< Vendor type for the header. */ |
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size_t data_size; /**< Size of Sdo data. */ |
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ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to |
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the slave, EC_DIR_INPUT means reading from the |
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slave. */ |
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void (*state)(ec_voe_handler_t *); /**< State function */ |
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ec_internal_request_state_t request_state; /**< Handler state. */ |
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unsigned int retries; /**< retries upon datagram timeout */ |
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unsigned long jiffies_start; /**< Timestamp for timeout calculation. */ |
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}; |
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/*****************************************************************************/ |
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int ec_voe_handler_init(ec_voe_handler_t *, ec_slave_config_t *, size_t); |
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void ec_voe_handler_clear(ec_voe_handler_t *); |
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1264
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1218
diff
changeset
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size_t ec_voe_handler_mem_size(const ec_voe_handler_t *); |
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/*****************************************************************************/ |
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#endif |