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46 /** Sercos-over-EtherCAT request. |
46 /** Sercos-over-EtherCAT request. |
47 */ |
47 */ |
48 typedef struct { |
48 typedef struct { |
49 struct list_head list; /**< List item. */ |
49 struct list_head list; /**< List item. */ |
50 uint16_t idn; /**< Sercos ID-Number. */ |
50 uint16_t idn; /**< Sercos ID-Number. */ |
|
51 ec_al_state_t al_state; /**< AL state (only valid for IDN config). */ |
51 uint8_t *data; /**< Pointer to SDO data. */ |
52 uint8_t *data; /**< Pointer to SDO data. */ |
52 size_t mem_size; /**< Size of SDO data memory. */ |
53 size_t mem_size; /**< Size of SDO data memory. */ |
53 size_t data_size; /**< Size of SDO data. */ |
54 size_t data_size; /**< Size of SDO data. */ |
54 ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to the |
55 ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to the |
55 slave, EC_DIR_INPUT means reading from the slave. */ |
56 slave, EC_DIR_INPUT means reading from the slave. */ |