fp@409: /******************************************************************************
fp@409:  *
fp@409:  *  $Id$
fp@409:  *
fp@409:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@409:  *
fp@409:  *  This file is part of the IgH EtherCAT Master.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@409:  *  and/or modify it under the terms of the GNU General Public License
fp@409:  *  as published by the Free Software Foundation; either version 2 of the
fp@409:  *  License, or (at your option) any later version.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@409:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@409:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@409:  *  GNU General Public License for more details.
fp@409:  *
fp@409:  *  You should have received a copy of the GNU General Public License
fp@409:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@409:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@409:  *
fp@409:  *  The right to use EtherCAT Technology is granted and comes free of
fp@409:  *  charge under condition of compatibility of product made by
fp@409:  *  Licensee. People intending to distribute/sell products based on the
fp@409:  *  code, have to sign an agreement to guarantee that products using
fp@409:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@409:  *  EtherCAT specification (which are released themselves as an open
fp@409:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@409:  *  Technology, IP and trade marks.
fp@409:  *
fp@409:  *****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    \file
fp@409:    EtherCAT CANopen structures.
fp@409: */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #ifndef _EC_CANOPEN_H_
fp@409: #define _EC_CANOPEN_H_
fp@409: 
fp@409: #include <linux/list.h>
fp@409: #include <linux/kobject.h>
fp@409: 
fp@409: #include "globals.h"
fp@409: #include "slave.h"
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CANopen SDO.
fp@409: */
fp@409: 
fp@740: struct ec_sdo
fp@409: {
fp@409:     struct kobject kobj; /**< kobject */
fp@409:     struct list_head list; /**< list item */
fp@430:     ec_slave_t *slave; /**< parent slave */
fp@409:     uint16_t index; /**< SDO index */
fp@409:     uint8_t object_code; /**< object code */
fp@409:     char *name; /**< SDO name */
fp@409:     uint8_t subindices; /**< subindices */
fp@409:     struct list_head entries; /**< entry list */
fp@740: };
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CANopen SDO entry.
fp@409: */
fp@409: 
fp@409: typedef struct
fp@409: {
fp@409:     struct kobject kobj; /**< kobject */
fp@409:     struct list_head list; /**< list item */
fp@430:     ec_sdo_t *sdo; /**< parent SDO */
fp@409:     uint8_t subindex; /**< entry subindex */
fp@409:     uint16_t data_type; /**< entry data type */
fp@409:     uint16_t bit_length; /**< entry length in bit */
fp@409:     char *description; /**< entry description */
fp@409: }
fp@409: ec_sdo_entry_t;
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CANopen SDO configuration data.
fp@409: */
fp@409: 
fp@409: typedef struct
fp@409: {
fp@409:     struct list_head list; /**< list item */
fp@409:     uint16_t index; /**< SDO index */
fp@409:     uint8_t subindex; /**< SDO subindex */
fp@409:     uint8_t *data; /**< pointer to SDO data */
fp@409:     size_t size; /**< size of SDO data */
fp@409: }
fp@409: ec_sdo_data_t;
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@430: /**
fp@430:    CANopen SDO request.
fp@430: */
fp@430: 
fp@430: typedef struct
fp@430: {
fp@646:     struct list_head list; /**< list item */
fp@758:     ec_sdo_entry_t *entry; /**< SDO entry */
fp@430:     uint8_t *data; /**< pointer to SDO data */
fp@430:     size_t size; /**< size of SDO data */
fp@758:     ec_request_state_t state; /**< SDO request state */
fp@430: }
fp@430: ec_sdo_request_t;
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@409: int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
fp@448: void ec_sdo_destroy(ec_sdo_t *);
fp@740: ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);
fp@448: 
fp@409: int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
fp@448: void ec_sdo_entry_destroy(ec_sdo_entry_t *);
fp@409: 
fp@739: void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_entry_t *);
fp@739: void ec_sdo_request_clear(ec_sdo_request_t *);
fp@739: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #endif