Moved ABS() macro to globals.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT CANopen SDO request structure.
*/
/*****************************************************************************/
#ifndef __EC_SDO_REQUEST_H__
#define __EC_SDO_REQUEST_H__
#include <linux/list.h>
#include "globals.h"
/*****************************************************************************/
/** CANopen SDO request.
*/
struct ec_sdo_request {
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 mem_size; /**< Size of SDO data memory. */
size_t data_size; /**< Size of SDO data. */
uint8_t complete_access; /**< SDO shall be transferred completely. */
uint32_t issue_timeout; /**< Maximum time in ms, the processing of the
request may take. */
uint32_t response_timeout; /**< Maximum time in ms, the transfer is
retried, if the slave does not respond. */
ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means downloading to
the slave, EC_DIR_INPUT means uploading from the
slave. */
ec_internal_request_state_t state; /**< SDO request state. */
unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
unsigned long jiffies_sent; /**< Jiffies, when the upload/download
request was sent. */
uint32_t abort_code; /**< SDO request abort code. Zero on success. */
};
/*****************************************************************************/
void ec_sdo_request_init(ec_sdo_request_t *);
void ec_sdo_request_clear(ec_sdo_request_t *);
int ec_sdo_request_copy(ec_sdo_request_t *, const ec_sdo_request_t *);
void ec_sdo_request_address(ec_sdo_request_t *, uint16_t, uint8_t);
int ec_sdo_request_alloc(ec_sdo_request_t *, size_t);
int ec_sdo_request_copy_data(ec_sdo_request_t *, const uint8_t *, size_t);
int ec_sdo_request_timed_out(const ec_sdo_request_t *);
/*****************************************************************************/
#endif