Increased maximum number of EEPROM words from 512 to 1024.
/******************************************************************************
*
* $Id$
*
* 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.
*/
struct ec_sdo
{
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 */
};
/*****************************************************************************/
/**
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 list; /**< list item */
ec_sdo_entry_t *entry; /**< SDO entry */
uint8_t *data; /**< pointer to SDO data */
size_t size; /**< size of SDO data */
ec_request_state_t state; /**< SDO request state */
}
ec_sdo_request_t;
/*****************************************************************************/
int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
void ec_sdo_destroy(ec_sdo_t *);
ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);
int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
void ec_sdo_entry_destroy(ec_sdo_entry_t *);
void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_entry_t *);
void ec_sdo_request_clear(ec_sdo_request_t *);
/*****************************************************************************/
#endif