master/pdo.h
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 15:38:35 +0000
changeset 1249 d64ed42e0d11
parent 1209 8be462afb7f4
child 1326 ef907b0b5125
permissions -rw-r--r--
Userspace example with priority.
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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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#include "pdo_entry.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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    uint16_t index; /**< Pdo index. */
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    int8_t sync_index; /**< Assigned sync manager. \todo remove? */
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    char *name; /**< Pdo name. */
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    struct list_head entries; /**< List of Pdo entries. */
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} ec_pdo_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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unsigned int ec_pdo_entry_count(const ec_pdo_t *);
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const ec_pdo_entry_t *ec_pdo_find_entry_by_pos_const(
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        const ec_pdo_t *, unsigned int);
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/*****************************************************************************/
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#endif