sdev.h

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#ifndef LELY_CO_SDEV_H_
#define LELY_CO_SDEV_H_
 
#include <lely/co/dev.h>
#include <lely/co/obj.h>
#include <lely/co/val.h>
 
struct co_sdev {
        co_unsigned8_t id;
        const char *name;
        const char *vendor_name;
        co_unsigned32_t vendor_id;
        const char *product_name;
        co_unsigned32_t product_code;
        co_unsigned32_t revision;
        const char *order_code;
        unsigned baud : 10;
        co_unsigned16_t rate;
        int lss;
        co_unsigned32_t dummy;
        co_unsigned16_t nobj;
        const struct co_sobj *objs;
};
 
struct co_sobj {
        const char *name;
        co_unsigned16_t idx;
        co_unsigned8_t code;
        co_unsigned8_t nsub;
        const struct co_ssub *subs;
};
 
struct co_ssub {
        const char *name;
        co_unsigned8_t subidx;
        co_unsigned16_t type;
        union co_val min;
        union co_val max;
        union co_val def;
        union co_val val;
        unsigned access : 5;
        unsigned pdo_mapping : 1;
        unsigned flags : 26;
};
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct __co_dev *__co_dev_init_from_sdev(
                struct __co_dev *dev, const struct co_sdev *sdev);
 
co_dev_t *co_dev_create_from_sdev(const struct co_sdev *sdev);
 
int snprintf_c99_sdev(char *s, size_t n, const co_dev_t *dev);
 
int asprintf_c99_sdev(char **ps, const co_dev_t *dev);
 
#ifdef __cplusplus
}
#endif
 
#endif // !LELY_CO_SDEV_H_