78 lines
3.1 KiB
C
78 lines
3.1 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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Vendor-specific-over-EtherCAT protocol handler.
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*/
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/*****************************************************************************/
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#ifndef __EC_VOE_HANDLER_H__
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#define __EC_VOE_HANDLER_H__
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#include <linux/list.h>
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#include "globals.h"
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#include "datagram.h"
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/*****************************************************************************/
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/** Vendor-specific-over-EtherCAT handler.
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*/
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struct ec_voe_handler {
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struct list_head list; /**< List item. */
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ec_slave_config_t *config; /**< Parent slave configuration. */
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ec_datagram_t datagram; /**< State machine datagram. */
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uint32_t vendor_id; /**< Vendor ID for the header. */
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uint16_t vendor_type; /**< Vendor type for the header. */
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size_t data_size; /**< Size of Sdo data. */
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ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to
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the slave, EC_DIR_INPUT means reading from the
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slave. */
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void (*state)(ec_voe_handler_t *); /**< State function */
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ec_internal_request_state_t request_state; /**< Handler state. */
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unsigned int retries; /**< retries upon datagram timeout */
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unsigned long jiffies_start; /**< Timestamp for timeout calculation. */
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};
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/*****************************************************************************/
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int ec_voe_handler_init(ec_voe_handler_t *, ec_slave_config_t *, size_t);
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void ec_voe_handler_clear(ec_voe_handler_t *);
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size_t ec_voe_handler_mem_size(const ec_voe_handler_t *);
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/*****************************************************************************/
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#endif
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