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/*
	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008
	Copyright Stichting C.A. Muller Radioastronomiestation, 2008

	This program 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 3 of the License, or
	(at your option) any later version.

	This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.

 */

#ifndef _INCLUDE_EC_STOEBER_H_
#define _INCLUDE_EC_STOEBER_H_

#include "ec.h"
#include "canopen.h"

#define STOEBER_PDO_MAP(i,s,l) htole32(((i)<<16)|((s)<<8)|l)

#define STOEBER_PDO_A180	0
#define STOEBER_PDO_F210	1
#define STOEBER_PDO_I210	2
#define STOEBER_PDO_I213	4
#define STOEBER_PDO_I215	8
#define STOEBER_PDO_C230	10

#define STOEBER_PDO_I80		0
#define STOEBER_PDO_E91		4
#define STOEBER_PDO_E90		8
#define STOEBER_PDO_E19		10
#define STOEBER_PDO_E10		12

struct ec_stoeber {
	char *dev;
	struct ec_dgram_addr addr;
	float max_speed;
	float max_accel;
	float max_torque;

	float standstill_torque;
	float brake_resistor;
	float brake_power;
	
	/* rx pdo */
	unsigned char *rx_buffer; /* 14 */
	uint32_t *rx_I80;
	uint32_t *rx_E91;
	uint16_t *rx_E90;
	uint16_t *rx_E19;
	uint16_t *rx_E10;
	
	/* tx pdo */
	unsigned char *tx_buffer; /* 12 */;
	uint8_t *tx_A180;
	uint8_t *tx_F210;
	uint16_t *tx_I210;
	uint32_t *tx_I213;
	uint16_t *tx_I215;
	uint16_t *tx_C230;
};

int ec_stoeber_init(struct ec_stoeber *stbr);

#endif /* _INCLUDE_EC_STOEBER_H_ */