equal
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45 |
45 |
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 uint8_t drive_no; /**< Drive number. */ |
50 uint16_t idn; /**< Sercos ID-Number. */ |
51 uint16_t idn; /**< Sercos ID-Number. */ |
51 ec_al_state_t al_state; /**< AL state (only valid for IDN config). */ |
52 ec_al_state_t al_state; /**< AL state (only valid for IDN config). */ |
52 uint8_t *data; /**< Pointer to SDO data. */ |
53 uint8_t *data; /**< Pointer to SDO data. */ |
53 size_t mem_size; /**< Size of SDO data memory. */ |
54 size_t mem_size; /**< Size of SDO data memory. */ |
54 size_t data_size; /**< Size of SDO data. */ |
55 size_t data_size; /**< Size of SDO data. */ |
64 |
65 |
65 void ec_soe_request_init(ec_soe_request_t *); |
66 void ec_soe_request_init(ec_soe_request_t *); |
66 void ec_soe_request_clear(ec_soe_request_t *); |
67 void ec_soe_request_clear(ec_soe_request_t *); |
67 |
68 |
68 int ec_soe_request_copy(ec_soe_request_t *, const ec_soe_request_t *); |
69 int ec_soe_request_copy(ec_soe_request_t *, const ec_soe_request_t *); |
|
70 void ec_soe_request_set_drive_no(ec_soe_request_t *, uint8_t); |
69 void ec_soe_request_set_idn(ec_soe_request_t *, uint16_t); |
71 void ec_soe_request_set_idn(ec_soe_request_t *, uint16_t); |
70 int ec_soe_request_alloc(ec_soe_request_t *, size_t); |
72 int ec_soe_request_alloc(ec_soe_request_t *, size_t); |
71 int ec_soe_request_copy_data(ec_soe_request_t *, const uint8_t *, size_t); |
73 int ec_soe_request_copy_data(ec_soe_request_t *, const uint8_t *, size_t); |
72 int ec_soe_request_append_data(ec_soe_request_t *, const uint8_t *, size_t); |
74 int ec_soe_request_append_data(ec_soe_request_t *, const uint8_t *, size_t); |
73 void ec_soe_request_read(ec_soe_request_t *); |
75 void ec_soe_request_read(ec_soe_request_t *); |