fp@1831: /******************************************************************************
fp@1831:  *
fp@1831:  *  $Id$
fp@1831:  *
fp@1831:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1831:  *
fp@1831:  *  This file is part of the IgH EtherCAT Master.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1831:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1831:  *  published by the Free Software Foundation.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1831:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1831:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1831:  *  Public License for more details.
fp@1831:  *
fp@1831:  *  You should have received a copy of the GNU General Public License along
fp@1831:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1831:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1831:  *
fp@1831:  *  ---
fp@1831:  *
fp@1831:  *  The license mentioned above concerns the source code only. Using the
fp@1831:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1831:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1831:  *
fp@1831:  *****************************************************************************/
fp@1831: 
fp@1831: /**
fp@1831:    \file
fp@1831:    EtherCAT SoE request structure.
fp@1831: */
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: #ifndef __EC_SOE_REQUEST_H__
fp@1831: #define __EC_SOE_REQUEST_H__
fp@1831: 
fp@1831: #include <linux/list.h>
fp@1831: 
fp@1831: #include "globals.h"
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** Sercos-over-EtherCAT request.
fp@1831:  */
fp@1831: typedef struct {
fp@1831:     struct list_head list; /**< List item. */
fp@1952:     uint8_t drive_no; /**< Drive number. */
fp@1831:     uint16_t idn; /**< Sercos ID-Number. */
fp@1944:     ec_al_state_t al_state; /**< AL state (only valid for IDN config). */
fp@1831:     uint8_t *data; /**< Pointer to SDO data. */
fp@1831:     size_t mem_size; /**< Size of SDO data memory. */
fp@1831:     size_t data_size; /**< Size of SDO data. */
fp@1831:     ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to the
fp@1831:                           slave, EC_DIR_INPUT means reading from the slave. */
fp@1831:     ec_internal_request_state_t state; /**< Request state. */
fp@1831:     unsigned long jiffies_sent; /**< Jiffies, when the upload/download
fp@1831:                                      request was sent. */
fp@1831:     uint16_t error_code; /**< SoE error code. */
fp@1831: } ec_soe_request_t;
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: void ec_soe_request_init(ec_soe_request_t *);
fp@1831: void ec_soe_request_clear(ec_soe_request_t *);
fp@1831: 
fp@1843: int ec_soe_request_copy(ec_soe_request_t *, const ec_soe_request_t *);
fp@1952: void ec_soe_request_set_drive_no(ec_soe_request_t *, uint8_t);
fp@1831: void ec_soe_request_set_idn(ec_soe_request_t *, uint16_t);
fp@1831: int ec_soe_request_alloc(ec_soe_request_t *, size_t);
fp@1831: int ec_soe_request_copy_data(ec_soe_request_t *, const uint8_t *, size_t);
fp@1864: int ec_soe_request_append_data(ec_soe_request_t *, const uint8_t *, size_t);
fp@1831: void ec_soe_request_read(ec_soe_request_t *);
fp@1831: void ec_soe_request_write(ec_soe_request_t *);
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: #endif