132 lines
5.3 KiB
C
132 lines
5.3 KiB
C
/*
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* Simple Open EtherCAT Master Library
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*
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* File : ethercatcoe.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 ethercatcoe.c
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*/
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#ifndef _ethercatcoe_
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#define _ethercatcoe_
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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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/** max entries in Object Description list */
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#define EC_MAXODLIST 1024
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/** max entries in Object Entry list */
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#define EC_MAXOELIST 256
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/* Storage for object description list */
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typedef struct
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{
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/** slave number */
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uint16 Slave;
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/** number of entries in list */
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uint16 Entries;
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/** array of indexes */
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uint16 Index[EC_MAXODLIST];
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/** array of datatypes, see EtherCAT specification */
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uint16 DataType[EC_MAXODLIST];
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/** array of object codes, see EtherCAT specification */
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uint8 ObjectCode[EC_MAXODLIST];
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/** number of subindexes for each index */
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uint8 MaxSub[EC_MAXODLIST];
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/** textual description of each index */
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char Name[EC_MAXODLIST][EC_MAXNAME+1];
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} ec_ODlistt;
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/* storage for object list entry information */
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typedef struct
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{
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/** number of entries in list */
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uint16 Entries;
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/** array of value infos, see EtherCAT specification */
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uint8 ValueInfo[EC_MAXOELIST];
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/** array of value infos, see EtherCAT specification */
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uint16 DataType[EC_MAXOELIST];
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/** array of bit lengths, see EtherCAT specification */
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uint16 BitLength[EC_MAXOELIST];
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/** array of object access bits, see EtherCAT specification */
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uint16 ObjAccess[EC_MAXOELIST];
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/** textual description of each index */
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char Name[EC_MAXOELIST][EC_MAXNAME+1];
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} ec_OElistt;
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#ifdef EC_VER1
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void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
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int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
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boolean CA, int *psize, void *p, int timeout);
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int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
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boolean CA, int psize, void *p, int Timeout);
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int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
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int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
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int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
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int ec_readPDOmapCA(uint16 Slave, int *Osize, int *Isize);
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int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
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int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
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int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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#endif
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void ecx_SDOerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
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int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
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boolean CA, int *psize, void *p, int timeout);
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int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
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boolean CA, int psize, void *p, int Timeout);
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int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
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int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
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int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
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int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
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int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
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int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
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int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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#ifdef __cplusplus
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}
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#endif
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#endif
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