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55 |
55 |
56 typedef struct |
56 typedef struct |
57 { |
57 { |
58 struct kobject kobj; /**< kobject */ |
58 struct kobject kobj; /**< kobject */ |
59 struct list_head list; /**< list item */ |
59 struct list_head list; /**< list item */ |
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60 ec_slave_t *slave; /**< parent slave */ |
60 uint16_t index; /**< SDO index */ |
61 uint16_t index; /**< SDO index */ |
61 uint8_t object_code; /**< object code */ |
62 uint8_t object_code; /**< object code */ |
62 char *name; /**< SDO name */ |
63 char *name; /**< SDO name */ |
63 uint8_t subindices; /**< subindices */ |
64 uint8_t subindices; /**< subindices */ |
64 struct list_head entries; /**< entry list */ |
65 struct list_head entries; /**< entry list */ |
73 |
74 |
74 typedef struct |
75 typedef struct |
75 { |
76 { |
76 struct kobject kobj; /**< kobject */ |
77 struct kobject kobj; /**< kobject */ |
77 struct list_head list; /**< list item */ |
78 struct list_head list; /**< list item */ |
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79 ec_sdo_t *sdo; /**< parent SDO */ |
78 uint8_t subindex; /**< entry subindex */ |
80 uint8_t subindex; /**< entry subindex */ |
79 uint16_t data_type; /**< entry data type */ |
81 uint16_t data_type; /**< entry data type */ |
80 uint16_t bit_length; /**< entry length in bit */ |
82 uint16_t bit_length; /**< entry length in bit */ |
81 char *description; /**< entry description */ |
83 char *description; /**< entry description */ |
82 } |
84 } |
98 } |
100 } |
99 ec_sdo_data_t; |
101 ec_sdo_data_t; |
100 |
102 |
101 /*****************************************************************************/ |
103 /*****************************************************************************/ |
102 |
104 |
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105 /** |
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106 CANopen SDO request. |
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107 */ |
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108 |
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109 typedef struct |
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110 { |
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111 struct list_head queue; /**< list item */ |
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112 ec_sdo_t *sdo; |
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113 ec_sdo_entry_t *entry; |
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114 uint8_t *data; /**< pointer to SDO data */ |
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115 size_t size; /**< size of SDO data */ |
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116 int return_code; |
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117 } |
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118 ec_sdo_request_t; |
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119 |
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120 /*****************************************************************************/ |
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121 |
103 int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *); |
122 int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *); |
104 int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *); |
123 int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *); |
105 |
124 |
106 /*****************************************************************************/ |
125 /*****************************************************************************/ |
107 |
126 |