77 lines
2.8 KiB
C
77 lines
2.8 KiB
C
/******************************************************************************
|
|
*
|
|
* $Id$
|
|
*
|
|
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
|
|
*
|
|
* This file is part of the IgH EtherCAT Master.
|
|
*
|
|
* The IgH EtherCAT Master is free software; you can redistribute it
|
|
* and/or modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation; either version 2 of the
|
|
* License, or (at your option) any later version.
|
|
*
|
|
* The IgH EtherCAT Master is distributed in the hope that it will be
|
|
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with the IgH EtherCAT Master; if not, write to the Free Software
|
|
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
*
|
|
* The right to use EtherCAT Technology is granted and comes free of
|
|
* charge under condition of compatibility of product made by
|
|
* Licensee. People intending to distribute/sell products based on the
|
|
* code, have to sign an agreement to guarantee that products using
|
|
* software based on IgH EtherCAT master stay compatible with the actual
|
|
* EtherCAT specification (which are released themselves as an open
|
|
* standard) as the (only) precondition to have the right to use EtherCAT
|
|
* Technology, IP and trade marks.
|
|
*
|
|
*****************************************************************************/
|
|
|
|
/**
|
|
\file
|
|
EtherCAT CANopen Sdo request structure.
|
|
*/
|
|
|
|
/*****************************************************************************/
|
|
|
|
#ifndef __EC_SDO_REQUEST_H__
|
|
#define __EC_SDO_REQUEST_H__
|
|
|
|
#include <linux/list.h>
|
|
|
|
#include "globals.h"
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** CANopen Sdo request.
|
|
*/
|
|
typedef struct {
|
|
struct list_head list; /**< List item. */
|
|
uint16_t index; /**< Sdo index. */
|
|
uint8_t subindex; /**< Sdo subindex. */
|
|
uint8_t *data; /**< Pointer to Sdo data. */
|
|
size_t mem_size; /**< Size of Sdo data memory. */
|
|
size_t data_size; /**< Size of Sdo data. */
|
|
ec_request_state_t state; /**< Sdo request state. */
|
|
} ec_sdo_request_t;
|
|
|
|
/*****************************************************************************/
|
|
|
|
void ec_sdo_request_init(ec_sdo_request_t *);
|
|
void ec_sdo_request_clear(ec_sdo_request_t *);
|
|
|
|
void ec_sdo_request_address(ec_sdo_request_t *, uint16_t, uint8_t);
|
|
int ec_sdo_request_alloc(ec_sdo_request_t *, size_t);
|
|
int ec_sdo_request_copy_data(ec_sdo_request_t *, const uint8_t *, size_t);
|
|
|
|
void ec_sdo_request_read(ec_sdo_request_t *);
|
|
void ec_sdo_request_write(ec_sdo_request_t *);
|
|
|
|
/*****************************************************************************/
|
|
|
|
#endif
|