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    EtherCAT CANopen structures.

    37 */

    38 

    39 /*****************************************************************************/

    40 

    41 #ifndef _EC_CANOPEN_H_

    42 #define _EC_CANOPEN_H_

    43 

    44 #include <linux/list.h>

    45 #include <linux/kobject.h>

    46 

    47 #include "globals.h"

    48 #include "slave.h"

    49 

    50 /*****************************************************************************/

    51 

    52 /**

    53    CANopen SDO.

    54 */

    55 

    56 typedef struct

    57 {

    58     struct kobject kobj; /**< kobject */

    59     struct list_head list; /**< list item */

    60     ec_slave_t *slave; /**< parent slave */

    61     uint16_t index; /**< SDO index */

    62     uint8_t object_code; /**< object code */

    63     char *name; /**< SDO name */

    64     uint8_t subindices; /**< subindices */

    65     struct list_head entries; /**< entry list */

    66 }

    67 ec_sdo_t;

    68 

    69 /*****************************************************************************/

    70 

    71 /**

    72    CANopen SDO entry.

    73 */

    74 

    75 typedef struct

    76 {

    77     struct kobject kobj; /**< kobject */

    78     struct list_head list; /**< list item */

    79     ec_sdo_t *sdo; /**< parent SDO */

    80     uint8_t subindex; /**< entry subindex */

    81     uint16_t data_type; /**< entry data type */

    82     uint16_t bit_length; /**< entry length in bit */

    83     char *description; /**< entry description */

    84 }

    85 ec_sdo_entry_t;

    86 

    87 /*****************************************************************************/

    88 

    89 /**

    90    CANopen SDO configuration data.

    91 */

    92 

    93 typedef struct

    94 {

    95     struct list_head list; /**< list item */

    96     uint16_t index; /**< SDO index */

    97     uint8_t subindex; /**< SDO subindex */

    98     uint8_t *data; /**< pointer to SDO data */

    99     size_t size; /**< size of SDO data */

   100 }

   101 ec_sdo_data_t;

   102 

   103 /*****************************************************************************/

   104 

   105 /**

   106    CANopen SDO request.

   107 */

   108 

   109 typedef struct

   110 {

   111     struct list_head queue; /**< list item */

   112     ec_sdo_t *sdo;

   113     ec_sdo_entry_t *entry;

   114     uint8_t *data; /**< pointer to SDO data */

   115     size_t size; /**< size of SDO data */

   116     int return_code;

   117 }

   118 ec_sdo_request_t;

   119 

   120 /*****************************************************************************/

   121 

   122 int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);

   123 void ec_sdo_destroy(ec_sdo_t *);

   124 

   125 int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);

   126 void ec_sdo_entry_destroy(ec_sdo_entry_t *);

   127 

   128 /*****************************************************************************/

   129 

   130 #endif