Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/******************************************************************************
*
* $Id$
*
* 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 structure.
*/
/*****************************************************************************/
#ifndef __EC_SDO_H__
#define __EC_SDO_H__
#include <linux/list.h>
#include "globals.h"
#include "sdo_entry.h"
/*****************************************************************************/
/** CANopen SDO.
*/
struct ec_sdo {
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 max_subindex; /**< Maximum subindex. */
struct list_head entries; /**< List of entries. */
};
/*****************************************************************************/
void ec_sdo_init(ec_sdo_t *, ec_slave_t *, uint16_t);
void ec_sdo_clear(ec_sdo_t *);
ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);
const ec_sdo_entry_t *ec_sdo_get_entry_const(const ec_sdo_t *, uint8_t);
/*****************************************************************************/
#endif