2014-11-25 23:10:29 +08:00
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/*
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* Simple Open EtherCAT Master Library
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*
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* File : ethercatbase.h
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2015-03-12 04:45:16 +08:00
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* Version : 1.3.1
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* Date : 11-03-2015
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* Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
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* Copyright (C) 2005-2015 Arthur Ketels
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* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
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* Copyright (C) 2014-2015 rt-labs AB , Sweden
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2014-11-25 23:10:29 +08:00
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*
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* SOEM is free software; you can redistribute it and/or modify it under
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* the terms of the GNU General Public License version 2 as published by the Free
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* Software Foundation.
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*
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* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
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* WARRANTY; without even the implied warranty of MERCHANTABILITY or
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* As a special exception, if other files instantiate templates or use macros
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* or inline functions from this file, or you compile this file and link it
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* with other works to produce a work based on this file, this file does not
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* by itself cause the resulting work to be covered by the GNU General Public
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* License. However the source code for this file must still be made available
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* in accordance with section (3) of the GNU General Public License.
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*
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* This exception does not invalidate any other reasons why a work based on
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* this file might be covered by the GNU General Public License.
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*
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* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
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* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
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* the sole purpose of creating, using and/or selling or otherwise distributing
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* an EtherCAT network master provided that an EtherCAT Master License is obtained
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* from Beckhoff Automation GmbH.
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*
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* In case you did not receive a copy of the EtherCAT Master License along with
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* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
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* (www.beckhoff.com).
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*/
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/** \file
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* \brief
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* Headerfile for ethercatbase.c
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*/
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#ifndef _ethercatbase_
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#define _ethercatbase_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
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int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
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int ecx_BWR(ecx_portt *port, uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
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int ecx_BRD(ecx_portt *port, uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
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int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ecx_ARMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ecx_FRMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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uint16 ecx_APRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout);
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int ecx_FPRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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uint16 ecx_FPRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout);
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int ecx_APWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout);
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int ecx_APWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ecx_FPWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout);
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int ecx_FPWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ecx_LRW(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout);
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int ecx_LRD(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout);
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int ecx_LWR(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout);
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int ecx_LRWDC(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout);
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#ifdef EC_VER1
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int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
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int ec_adddatagram(void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
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int ec_BWR(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
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int ec_BRD(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
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int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ec_ARMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ec_FRMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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uint16 ec_APRDw(uint16 ADP, uint16 ADO, int timeout);
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int ec_FPRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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uint16 ec_FPRDw(uint16 ADP, uint16 ADO, int timeout);
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int ec_APWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout);
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int ec_APWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ec_FPWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout);
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int ec_FPWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
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int ec_LRW(uint32 LogAdr, uint16 length, void *data, int timeout);
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int ec_LRD(uint32 LogAdr, uint16 length, void *data, int timeout);
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int ec_LWR(uint32 LogAdr, uint16 length, void *data, int timeout);
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int ec_LRWDC(uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif
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