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 /** CANopen Sdo.

    53  */

    54 struct ec_sdo {

    55     struct kobject kobj; /**< kobject */

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

    57     ec_slave_t *slave; /**< parent slave */

    58     uint16_t index; /**< Sdo index */

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

    60     char *name; /**< Sdo name */

    61     uint8_t subindices; /**< subindices */

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

    63 };

    64 

    65 /*****************************************************************************/

    66 

    67 /** CANopen Sdo entry.

    68  */

    69 typedef struct {

    70     struct kobject kobj; /**< kobject */

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

    72     ec_sdo_t *sdo; /**< parent Sdo */

    73     uint8_t subindex; /**< entry subindex */

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

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

    76     char *description; /**< entry description */

    77 } ec_sdo_entry_t;

    78 

    79 /*****************************************************************************/

    80 

    81 /** CANopen Sdo configuration data.

    82  */

    83 typedef struct {

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

    85     uint16_t index; /**< Sdo index */

    86     uint8_t subindex; /**< Sdo subindex */

    87     uint8_t *data; /**< pointer to Sdo data */

    88     size_t size; /**< size of Sdo data */

    89 }

    90 ec_sdo_data_t;

    91 

    92 /*****************************************************************************/

    93 

    94 /**

    95    CANopen Sdo request.

    96 */

    97 

    98 typedef struct {

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

   100     ec_slave_t *slave; /**< Slave owning the Sdo. */

   101     uint16_t index; /**< Sdo index. */

   102     uint8_t subindex; /**< Sdo subindex. */

   103     uint8_t *data; /**< pointer to Sdo data */

   104     size_t size; /**< size of Sdo data */

   105     ec_request_state_t state; /**< Sdo request state */

   106 } ec_sdo_request_t;

   107 

   108 /*****************************************************************************/

   109 

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

   111 void ec_sdo_destroy(ec_sdo_t *);

   112 ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);

   113 

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

   115 void ec_sdo_entry_destroy(ec_sdo_entry_t *);

   116 

   117 void ec_sdo_request_init_read(ec_sdo_request_t *, ec_slave_t *, uint16_t,

   118         uint8_t);

   119 void ec_sdo_request_clear(ec_sdo_request_t *);

   120 

   121 /*****************************************************************************/

   122 

   123 #endif