fp@1732: /******************************************************************************
fp@1732:  *
fp@1732:  *  $Id$
fp@1732:  *
fp@1732:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1732:  *
fp@1732:  *  This file is part of the IgH EtherCAT Master.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1732:  *  and/or modify it under the terms of the GNU General Public License
fp@1732:  *  as published by the Free Software Foundation; either version 2 of the
fp@1732:  *  License, or (at your option) any later version.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1732:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1732:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1732:  *  GNU General Public License for more details.
fp@1732:  *
fp@1732:  *  You should have received a copy of the GNU General Public License
fp@1732:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1732:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1732:  *
fp@1732:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1732:  *  charge under condition of compatibility of product made by
fp@1732:  *  Licensee. People intending to distribute/sell products based on the
fp@1732:  *  code, have to sign an agreement to guarantee that products using
fp@1732:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1732:  *  EtherCAT specification (which are released themselves as an open
fp@1732:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1732:  *  Technology, IP and trade marks.
fp@1732:  *
fp@1732:  *****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    \file
fp@1732:    EtherCAT CANopen structures.
fp@1732: */
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: #ifndef _EC_CANOPEN_H_
fp@1732: #define _EC_CANOPEN_H_
fp@1732: 
fp@1732: #include <linux/list.h>
fp@1732: #include <linux/kobject.h>
fp@1732: 
fp@1732: #include "globals.h"
fp@1732: #include "slave.h"
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CANopen SDO.
fp@1732: */
fp@1732: 
fp@1746: struct ec_sdo
fp@1732: {
fp@1732:     struct kobject kobj; /**< kobject */
fp@1732:     struct list_head list; /**< list item */
fp@1732:     ec_slave_t *slave; /**< parent slave */
fp@1732:     uint16_t index; /**< SDO index */
fp@1732:     uint8_t object_code; /**< object code */
fp@1732:     char *name; /**< SDO name */
fp@1732:     uint8_t subindices; /**< subindices */
fp@1732:     struct list_head entries; /**< entry list */
fp@1746: };
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CANopen SDO entry.
fp@1732: */
fp@1732: 
fp@1732: typedef struct
fp@1732: {
fp@1732:     struct kobject kobj; /**< kobject */
fp@1732:     struct list_head list; /**< list item */
fp@1732:     ec_sdo_t *sdo; /**< parent SDO */
fp@1732:     uint8_t subindex; /**< entry subindex */
fp@1732:     uint16_t data_type; /**< entry data type */
fp@1732:     uint16_t bit_length; /**< entry length in bit */
fp@1732:     char *description; /**< entry description */
fp@1732: }
fp@1732: ec_sdo_entry_t;
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CANopen SDO configuration data.
fp@1732: */
fp@1732: 
fp@1732: typedef struct
fp@1732: {
fp@1732:     struct list_head list; /**< list item */
fp@1732:     uint16_t index; /**< SDO index */
fp@1732:     uint8_t subindex; /**< SDO subindex */
fp@1732:     uint8_t *data; /**< pointer to SDO data */
fp@1732:     size_t size; /**< size of SDO data */
fp@1732: }
fp@1732: ec_sdo_data_t;
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CANopen SDO request.
fp@1732: */
fp@1732: 
fp@1732: typedef struct
fp@1732: {
fp@1744:     struct list_head list; /**< list item */
fp@1746:     ec_sdo_entry_t *entry; /**< SDO entry */
fp@1732:     uint8_t *data; /**< pointer to SDO data */
fp@1732:     size_t size; /**< size of SDO data */
fp@1746:     ec_request_state_t state; /**< SDO request state */
fp@1732: }
fp@1732: ec_sdo_request_t;
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
fp@1732: void ec_sdo_destroy(ec_sdo_t *);
fp@1746: ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);
fp@1732: 
fp@1732: int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
fp@1732: void ec_sdo_entry_destroy(ec_sdo_entry_t *);
fp@1732: 
fp@1746: void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_entry_t *);
fp@1746: void ec_sdo_request_clear(ec_sdo_request_t *);
fp@1746: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: #endif