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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** |
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35 \file |
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36 EtherCAT CANopen structures. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #ifndef _EC_CANOPEN_H_ |
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42 #define _EC_CANOPEN_H_ |
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43 |
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44 #include <linux/list.h> |
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45 #include <linux/kobject.h> |
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46 |
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47 #include "globals.h" |
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48 #include "slave.h" |
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49 |
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50 /*****************************************************************************/ |
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51 |
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52 /** |
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53 CANopen SDO. |
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54 */ |
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55 |
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56 typedef struct |
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57 { |
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58 struct kobject kobj; /**< kobject */ |
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59 struct list_head list; /**< list item */ |
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60 uint16_t index; /**< SDO index */ |
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61 uint8_t object_code; /**< object code */ |
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62 char *name; /**< SDO name */ |
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63 uint8_t subindices; /**< subindices */ |
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64 struct list_head entries; /**< entry list */ |
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65 } |
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66 ec_sdo_t; |
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67 |
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68 /*****************************************************************************/ |
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69 |
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70 /** |
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71 CANopen SDO entry. |
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72 */ |
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73 |
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74 typedef struct |
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75 { |
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76 struct kobject kobj; /**< kobject */ |
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77 struct list_head list; /**< list item */ |
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78 uint8_t subindex; /**< entry subindex */ |
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79 uint16_t data_type; /**< entry data type */ |
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80 uint16_t bit_length; /**< entry length in bit */ |
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81 char *description; /**< entry description */ |
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82 } |
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83 ec_sdo_entry_t; |
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84 |
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85 /*****************************************************************************/ |
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86 |
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87 /** |
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88 CANopen SDO configuration data. |
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89 */ |
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90 |
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91 typedef struct |
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92 { |
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93 struct list_head list; /**< list item */ |
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94 uint16_t index; /**< SDO index */ |
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95 uint8_t subindex; /**< SDO subindex */ |
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96 uint8_t *data; /**< pointer to SDO data */ |
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97 size_t size; /**< size of SDO data */ |
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98 } |
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99 ec_sdo_data_t; |
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100 |
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101 /*****************************************************************************/ |
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102 |
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103 int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *); |
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104 int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *); |
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105 |
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106 /*****************************************************************************/ |
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107 |
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108 #endif |