96 lines
3.6 KiB
C
96 lines
3.6 KiB
C
/*
|
|
* Licensed under the GNU General Public License version 2 with exceptions. See
|
|
* LICENSE file in the project root for full license information
|
|
*/
|
|
|
|
/** \file
|
|
* \brief
|
|
* Headerfile for ethercatcoe.c
|
|
*/
|
|
|
|
#ifndef _ethercatcoe_
|
|
#define _ethercatcoe_
|
|
|
|
#ifdef __cplusplus
|
|
extern "C"
|
|
{
|
|
#endif
|
|
|
|
/** max entries in Object Description list */
|
|
#define EC_MAXODLIST 1024
|
|
|
|
/** max entries in Object Entry list */
|
|
#define EC_MAXOELIST 256
|
|
|
|
/* Storage for object description list */
|
|
typedef struct
|
|
{
|
|
/** slave number */
|
|
uint16 Slave;
|
|
/** number of entries in list */
|
|
uint16 Entries;
|
|
/** array of indexes */
|
|
uint16 Index[EC_MAXODLIST];
|
|
/** array of datatypes, see EtherCAT specification */
|
|
uint16 DataType[EC_MAXODLIST];
|
|
/** array of object codes, see EtherCAT specification */
|
|
uint8 ObjectCode[EC_MAXODLIST];
|
|
/** number of subindexes for each index */
|
|
uint8 MaxSub[EC_MAXODLIST];
|
|
/** textual description of each index */
|
|
char Name[EC_MAXODLIST][EC_MAXNAME+1];
|
|
} ec_ODlistt;
|
|
|
|
/* storage for object list entry information */
|
|
typedef struct
|
|
{
|
|
/** number of entries in list */
|
|
uint16 Entries;
|
|
/** array of value infos, see EtherCAT specification */
|
|
uint8 ValueInfo[EC_MAXOELIST];
|
|
/** array of value infos, see EtherCAT specification */
|
|
uint16 DataType[EC_MAXOELIST];
|
|
/** array of bit lengths, see EtherCAT specification */
|
|
uint16 BitLength[EC_MAXOELIST];
|
|
/** array of object access bits, see EtherCAT specification */
|
|
uint16 ObjAccess[EC_MAXOELIST];
|
|
/** textual description of each index */
|
|
char Name[EC_MAXOELIST][EC_MAXNAME+1];
|
|
} ec_OElistt;
|
|
|
|
#ifdef EC_VER1
|
|
void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
|
|
int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
|
|
boolean CA, int *psize, void *p, int timeout);
|
|
int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
|
|
boolean CA, int psize, void *p, int Timeout);
|
|
int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
|
|
int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
|
|
int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
|
|
int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
|
|
int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
|
|
int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
|
|
int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
|
|
int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
|
|
#endif
|
|
|
|
void ecx_SDOerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
|
|
int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
|
|
boolean CA, int *psize, void *p, int timeout);
|
|
int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
|
|
boolean CA, int psize, void *p, int Timeout);
|
|
int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
|
|
int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
|
|
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
|
|
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize);
|
|
int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
|
|
int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
|
|
int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
|
|
int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif
|