sdo.h

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#ifndef LELY_CO_SDO_H_
#define LELY_CO_SDO_H_
 
#include <lely/co/type.h>
#include <lely/util/membuf.h>
 
#ifndef LELY_CO_SDO_INLINE
#define LELY_CO_SDO_INLINE static inline
#endif
 
#define CO_SDO_COBID_VALID UINT32_C(0x80000000)
 
#define CO_SDO_COBID_FRAME UINT32_C(0x20000000)
 
#define CO_DEFSTRUCT_SDO_PAR 0x0022
 
struct co_sdo_par {
        co_unsigned8_t n;
        co_unsigned32_t cobid_req;
        co_unsigned32_t cobid_res;
        co_unsigned8_t id;
};
 
#define CO_SDO_PAR_INIT \
        { \
                3, CO_SDO_COBID_VALID, CO_SDO_COBID_VALID, 0 \
        }
 
#define CO_SDO_AC_TOGGLE UINT32_C(0x05030000)
 
#define CO_SDO_AC_TIMEOUT UINT32_C(0x05040000)
 
#define CO_SDO_AC_NO_CS UINT32_C(0x05040001)
 
#define CO_SDO_AC_BLK_SIZE UINT32_C(0x05040002)
 
#define CO_SDO_AC_BLK_SEQ UINT32_C(0x05040003)
 
#define CO_SDO_AC_BLK_CRC UINT32_C(0x05040004)
 
#define CO_SDO_AC_NO_MEM UINT32_C(0x05040005)
 
#define CO_SDO_AC_NO_ACCESS UINT32_C(0x06010000)
 
#define CO_SDO_AC_NO_READ UINT32_C(0x06010001)
 
#define CO_SDO_AC_NO_WRITE UINT32_C(0x06010002)
 
#define CO_SDO_AC_NO_OBJ UINT32_C(0x06020000)
 
#define CO_SDO_AC_NO_PDO UINT32_C(0x06040041)
 
#define CO_SDO_AC_PDO_LEN UINT32_C(0x06040042)
 
#define CO_SDO_AC_PARAM UINT32_C(0x06040043)
 
#define CO_SDO_AC_COMPAT UINT32_C(0x06040047)
 
#define CO_SDO_AC_HARDWARE UINT32_C(0x06060000)
 
#define CO_SDO_AC_TYPE_LEN UINT32_C(0x06070010)
 
#define CO_SDO_AC_TYPE_LEN_HI UINT32_C(0x06070012)
 
#define CO_SDO_AC_TYPE_LEN_LO UINT32_C(0x06070013)
 
#define CO_SDO_AC_NO_SUB UINT32_C(0x06090011)
 
#define CO_SDO_AC_PARAM_VAL UINT32_C(0x06090030)
 
#define CO_SDO_AC_PARAM_HI UINT32_C(0x06090031)
 
#define CO_SDO_AC_PARAM_LO UINT32_C(0x06090032)
 
#define CO_SDO_AC_PARAM_RANGE UINT32_C(0x06090036)
 
#define CO_SDO_AC_NO_SDO UINT32_C(0x060a0023)
 
#define CO_SDO_AC_ERROR UINT32_C(0x08000000)
 
#define CO_SDO_AC_DATA UINT32_C(0x08000020)
 
#define CO_SDO_AC_DATA_CTL UINT32_C(0x08000021)
 
#define CO_SDO_AC_DATA_DEV UINT32_C(0x08000022)
 
#define CO_SDO_AC_NO_OD UINT32_C(0x08000023)
 
#define CO_SDO_AC_NO_DATA UINT32_C(0x08000024)
 
struct co_sdo_req {
        size_t size;
        const void *buf;
        size_t nbyte;
        size_t offset;
        struct membuf membuf;
};
 
#define CO_SDO_REQ_INIT \
        { \
                0, NULL, 0, 0, MEMBUF_INIT \
        }
 
#ifdef __cplusplus
extern "C" {
#endif
 
const char *co_sdo_ac2str(co_unsigned32_t ac);
 
void co_sdo_req_init(struct co_sdo_req *req);
 
void co_sdo_req_fini(struct co_sdo_req *req);
 
void co_sdo_req_clear(struct co_sdo_req *req);
 
LELY_CO_SDO_INLINE int co_sdo_req_first(const struct co_sdo_req *req);
 
LELY_CO_SDO_INLINE int co_sdo_req_last(const struct co_sdo_req *req);
 
int co_sdo_req_dn(struct co_sdo_req *req, const void **pptr, size_t *pnbyte,
                co_unsigned32_t *pac);
 
int co_sdo_req_dn_val(struct co_sdo_req *req, co_unsigned16_t type, void *val,
                co_unsigned32_t *pac);
 
int co_sdo_req_dn_file(struct co_sdo_req *req, const char *filename,
                co_unsigned32_t *pac);
 
int co_sdo_req_up(struct co_sdo_req *req, const void *ptr, size_t n,
                co_unsigned32_t *pac);
 
int co_sdo_req_up_val(struct co_sdo_req *req, co_unsigned16_t type,
                const void *val, co_unsigned32_t *pac);
 
int co_sdo_req_up_file(struct co_sdo_req *req, const char *filename,
                co_unsigned32_t *pac);
 
inline int
co_sdo_req_first(const struct co_sdo_req *req)
{
        return !req->offset;
}
 
inline int
co_sdo_req_last(const struct co_sdo_req *req)
{
        return req->offset + req->nbyte >= req->size;
}
 
#ifdef __cplusplus
}
#endif
 
#endif // !LELY_CO_SDO_H_