--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/canopen.h	Tue Nov 07 12:13:30 2006 +0000
@@ -0,0 +1,130 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT CANopen structures.
+*/
+
+/*****************************************************************************/
+
+#ifndef _EC_CANOPEN_H_
+#define _EC_CANOPEN_H_
+
+#include <linux/list.h>
+#include <linux/kobject.h>
+
+#include "globals.h"
+#include "slave.h"
+
+/*****************************************************************************/
+
+/**
+   CANopen SDO.
+*/
+
+typedef struct
+{
+    struct kobject kobj; /**< kobject */
+    struct list_head list; /**< list item */
+    ec_slave_t *slave; /**< parent slave */
+    uint16_t index; /**< SDO index */
+    uint8_t object_code; /**< object code */
+    char *name; /**< SDO name */
+    uint8_t subindices; /**< subindices */
+    struct list_head entries; /**< entry list */
+}
+ec_sdo_t;
+
+/*****************************************************************************/
+
+/**
+   CANopen SDO entry.
+*/
+
+typedef struct
+{
+    struct kobject kobj; /**< kobject */
+    struct list_head list; /**< list item */
+    ec_sdo_t *sdo; /**< parent SDO */
+    uint8_t subindex; /**< entry subindex */
+    uint16_t data_type; /**< entry data type */
+    uint16_t bit_length; /**< entry length in bit */
+    char *description; /**< entry description */
+}
+ec_sdo_entry_t;
+
+/*****************************************************************************/
+
+/**
+   CANopen SDO configuration data.
+*/
+
+typedef struct
+{
+    struct list_head list; /**< list item */
+    uint16_t index; /**< SDO index */
+    uint8_t subindex; /**< SDO subindex */
+    uint8_t *data; /**< pointer to SDO data */
+    size_t size; /**< size of SDO data */
+}
+ec_sdo_data_t;
+
+/*****************************************************************************/
+
+/**
+   CANopen SDO request.
+*/
+
+typedef struct
+{
+    struct list_head queue; /**< list item */
+    ec_sdo_t *sdo;
+    ec_sdo_entry_t *entry;
+    uint8_t *data; /**< pointer to SDO data */
+    size_t size; /**< size of SDO data */
+    int return_code;
+}
+ec_sdo_request_t;
+
+/*****************************************************************************/
+
+int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
+void ec_sdo_destroy(ec_sdo_t *);
+
+int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
+void ec_sdo_entry_destroy(ec_sdo_entry_t *);
+
+/*****************************************************************************/
+
+#endif