fp@1744: /******************************************************************************
fp@1744:  *
fp@1744:  *  $Id$
fp@1744:  *
fp@1744:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1744:  *
fp@1744:  *  This file is part of the IgH EtherCAT Master.
fp@1744:  *
fp@1744:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1744:  *  and/or modify it under the terms of the GNU General Public License
fp@1744:  *  as published by the Free Software Foundation; either version 2 of the
fp@1744:  *  License, or (at your option) any later version.
fp@1744:  *
fp@1744:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1744:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1744:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1744:  *  GNU General Public License for more details.
fp@1744:  *
fp@1744:  *  You should have received a copy of the GNU General Public License
fp@1744:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1744:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1744:  *
fp@1744:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1744:  *  charge under condition of compatibility of product made by
fp@1744:  *  Licensee. People intending to distribute/sell products based on the
fp@1744:  *  code, have to sign an agreement to guarantee that products using
fp@1744:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1744:  *  EtherCAT specification (which are released themselves as an open
fp@1744:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1744:  *  Technology, IP and trade marks.
fp@1744:  *
fp@1744:  *****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:    \file
fp@1744:    EtherCAT Process data object structure.
fp@1744: */
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: #ifndef _EC_PDO_H_
fp@1744: #define _EC_PDO_H_
fp@1744: 
fp@1744: #include <linux/list.h>
fp@1744: 
fp@1744: #include "globals.h"
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * PDO type.
fp@1744:  */
fp@1744: 
fp@1744: typedef enum
fp@1744: {
fp@1744:     EC_RX_PDO, /**< Reveive PDO */
fp@1744:     EC_TX_PDO /**< Transmit PDO */
fp@1744: }
fp@1744: ec_pdo_type_t;
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * PDO description.
fp@1744:  */
fp@1744: 
fp@1744: typedef struct
fp@1744: {
fp@1744:     struct list_head list; /**< list item */
fp@1744:     ec_pdo_type_t type; /**< PDO type */
fp@1744:     uint16_t index; /**< PDO index */
fp@1744:     int8_t sync_index; /**< assigned sync manager */
fp@1744:     char *name; /**< PDO name */
fp@1744:     struct list_head entries; /**< entry list */
fp@1744: }
fp@1744: ec_pdo_t;
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * PDO entry description.
fp@1744:  */
fp@1744: 
fp@1744: typedef struct
fp@1744: {
fp@1744:     struct list_head list; /**< list item */
fp@1744:     uint16_t index; /**< PDO entry index */
fp@1744:     uint8_t subindex; /**< PDO entry subindex */
fp@1744:     char *name; /**< entry name */
fp@1744:     uint8_t bit_length; /**< entry length in bit */
fp@1744: }
fp@1744: ec_pdo_entry_t;
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: void ec_pdo_init(ec_pdo_t *);
fp@1744: void ec_pdo_clear(ec_pdo_t *);
fp@1744: int ec_pdo_copy(ec_pdo_t *, const ec_pdo_t *);
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: #endif