fp@1209: /******************************************************************************
fp@1209:  *
fp@1209:  *  $Id$
fp@1209:  *
fp@1209:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1209:  *
fp@1209:  *  This file is part of the IgH EtherCAT Master.
fp@1209:  *
fp@1209:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1209:  *  and/or modify it under the terms of the GNU General Public License
fp@1209:  *  as published by the Free Software Foundation; either version 2 of the
fp@1209:  *  License, or (at your option) any later version.
fp@1209:  *
fp@1209:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1209:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1209:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1209:  *  GNU General Public License for more details.
fp@1209:  *
fp@1209:  *  You should have received a copy of the GNU General Public License
fp@1209:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1209:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1209:  *
fp@1209:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1209:  *  charge under condition of compatibility of product made by
fp@1209:  *  Licensee. People intending to distribute/sell products based on the
fp@1209:  *  code, have to sign an agreement to guarantee that products using
fp@1209:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1209:  *  EtherCAT specification (which are released themselves as an open
fp@1209:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1209:  *  Technology, IP and trade marks.
fp@1209:  *
fp@1209:  *****************************************************************************/
fp@1209: 
fp@1209: /**
fp@1209:    \file
fp@1209:    Vendor-specific-over-EtherCAT protocol handler.
fp@1209: */
fp@1209: 
fp@1209: /*****************************************************************************/
fp@1209: 
fp@1209: #ifndef __EC_VOE_HANDLER_H__
fp@1209: #define __EC_VOE_HANDLER_H__
fp@1209: 
fp@1209: #include <linux/list.h>
fp@1209: 
fp@1209: #include "globals.h"
fp@1209: #include "datagram.h"
fp@1209: 
fp@1209: /*****************************************************************************/
fp@1209: 
fp@1209: /** Vendor-specific-over-EtherCAT handler.
fp@1209:  */
fp@1209: struct ec_voe_handler {
fp@1209:     struct list_head list; /**< List item. */
fp@1209:     ec_slave_config_t *config; /**< Parent slave configuration. */
fp@1209:     ec_datagram_t datagram; /**< State machine datagram. */
fp@1218:     uint32_t vendor_id; /**< Vendor ID for the header. */
fp@1218:     uint16_t vendor_type; /**< Vendor type for the header. */
fp@1209:     size_t data_size; /**< Size of Sdo data. */
fp@1209:     ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to
fp@1209:                           the slave, EC_DIR_INPUT means reading from the
fp@1209:                           slave. */
fp@1209:     void (*state)(ec_voe_handler_t *); /**< State function */
fp@1209:     ec_internal_request_state_t request_state; /**< Handler state. */
fp@1209:     unsigned int retries; /**< retries upon datagram timeout */
fp@1209:     unsigned long jiffies_start; /**< Timestamp for timeout calculation. */
fp@1209: };
fp@1209: 
fp@1209: /*****************************************************************************/
fp@1209: 
fp@1209: int ec_voe_handler_init(ec_voe_handler_t *, ec_slave_config_t *, size_t);
fp@1209: void ec_voe_handler_clear(ec_voe_handler_t *);
fp@1209: 
fp@1209: /*****************************************************************************/
fp@1209: 
fp@1209: #endif