166 lines
5.1 KiB
C
166 lines
5.1 KiB
C
/*
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* Simple Open EtherCAT Master Library
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*
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* File : ethercatsoe.h
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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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*
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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 ethercatsoe.c
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*/
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#ifndef _ethercatsoe_
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#define _ethercatsoe_
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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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#define EC_SOE_DATASTATE_B 0x01
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#define EC_SOE_NAME_B 0x02
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#define EC_SOE_ATTRIBUTE_B 0x04
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#define EC_SOE_UNIT_B 0x08
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#define EC_SOE_MIN_B 0x10
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#define EC_SOE_MAX_B 0x20
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#define EC_SOE_VALUE_B 0x40
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#define EC_SOE_DEFAULT_B 0x80
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#define EC_SOE_MAXNAME 60
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#define EC_SOE_MAXMAPPING 64
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#define EC_IDN_MDTCONFIG 24
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#define EC_IDN_ATCONFIG 16
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/** SoE name structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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char name[EC_SOE_MAXNAME];
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} ec_SoEnamet;
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PACKED_END
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/** SoE list structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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union
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{
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uint8 byte[8];
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uint16 word[4];
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uint32 dword[2];
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uint64 lword[1];
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};
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} ec_SoElistt;
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PACKED_END
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/** SoE IDN mapping structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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uint16 idn[EC_SOE_MAXMAPPING];
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} ec_SoEmappingt;
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PACKED_END
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#define EC_SOE_LENGTH_1 0x00
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#define EC_SOE_LENGTH_2 0x01
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#define EC_SOE_LENGTH_4 0x02
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#define EC_SOE_LENGTH_8 0x03
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#define EC_SOE_TYPE_BINARY 0x00
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#define EC_SOE_TYPE_UINT 0x01
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#define EC_SOE_TYPE_INT 0x02
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#define EC_SOE_TYPE_HEX 0x03
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#define EC_SOE_TYPE_STRING 0x04
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#define EC_SOE_TYPE_IDN 0x05
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#define EC_SOE_TYPE_FLOAT 0x06
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#define EC_SOE_TYPE_PARAMETER 0x07
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/** SoE attribute structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** evaluation factor for display purposes */
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uint32 evafactor :16;
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/** length of IDN element(s) */
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uint32 length :2;
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/** IDN is list */
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uint32 list :1;
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/** IDN is command */
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uint32 command :1;
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/** datatype */
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uint32 datatype :3;
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uint32 reserved1 :1;
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/** decimals to display if float datatype */
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uint32 decimals :4;
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/** write protected in pre-op */
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uint32 wppreop :1;
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/** write protected in safe-op */
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uint32 wpsafeop :1;
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/** write protected in op */
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uint32 wpop :1;
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uint32 reserved2 :1;
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} ec_SoEattributet;
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PACKED_END
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#ifdef EC_VER1
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int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
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int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
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int ec_readIDNmap(uint16 slave, int *Osize, int *Isize);
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#endif
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int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
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int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
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int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize);
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#ifdef __cplusplus
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}
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#endif
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#endif |