fp@409: /******************************************************************************
fp@409:  *
fp@409:  *  $Id$
fp@409:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@409:  *
fp@409:  *  This file is part of the IgH EtherCAT Master.
fp@409:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@409:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@409:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  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@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@409:  *
fp@409:  *****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    \file
fp@1327:    EtherCAT CANopen SDO request structure.
fp@409: */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: #ifndef __EC_SDO_REQUEST_H__
fp@847: #define __EC_SDO_REQUEST_H__
fp@409: 
fp@409: #include <linux/list.h>
fp@409: 
fp@409: #include "globals.h"
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@1327: /** CANopen SDO request.
fp@831:  */
fp@858: struct ec_sdo_request {
fp@847:     struct list_head list; /**< List item. */
fp@1327:     uint16_t index; /**< SDO index. */
fp@1327:     uint8_t subindex; /**< SDO subindex. */
fp@1327:     uint8_t *data; /**< Pointer to SDO data. */
fp@1327:     size_t mem_size; /**< Size of SDO data memory. */
fp@1327:     size_t data_size; /**< Size of SDO data. */
fp@1526:     uint8_t complete_access; /**< SDO shall be transferred completely. */
fp@1035:     uint32_t issue_timeout; /**< Maximum time in ms, the processing of the
fp@1035:                               request may take. */
fp@1035:     uint32_t response_timeout; /**< Maximum time in ms, the transfer is
fp@1035:                                  retried, if the slave does not respond. */
fp@859:     ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means downloading to
fp@859:                           the slave, EC_DIR_INPUT means uploading from the
fp@859:                           slave. */
fp@1327:     ec_internal_request_state_t state; /**< SDO request state. */
fp@1035:     unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
fp@1035:     unsigned long jiffies_sent; /**< Jiffies, when the upload/download
fp@1035:                                      request was sent. */
fp@1948:     int errno; /**< Error number. */
fp@1327:     uint32_t abort_code; /**< SDO request abort code. Zero on success. */
fp@858: };
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@852: void ec_sdo_request_init(ec_sdo_request_t *);
fp@739: void ec_sdo_request_clear(ec_sdo_request_t *);
fp@739: 
fp@1318: int ec_sdo_request_copy(ec_sdo_request_t *, const ec_sdo_request_t *);
fp@854: int ec_sdo_request_alloc(ec_sdo_request_t *, size_t);
fp@854: int ec_sdo_request_copy_data(ec_sdo_request_t *, const uint8_t *, size_t);
fp@880: int ec_sdo_request_timed_out(const ec_sdo_request_t *);
fp@854: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #endif