ethercatsoe.h

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/*
 * Simple Open EtherCAT Master Library 
 *
 * File    : ethercatsoe.h
 * Version : 1.2.5
 * Date    : 09-04-2011
 * Copyright (C) 2005-2011 Speciaal Machinefabriek Ketels v.o.f.
 * Copyright (C) 2005-2011 Arthur Ketels
 * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
 *
 * SOEM is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License version 2 as published by the Free
 * Software Foundation.
 *
 * SOEM 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.
 *
 * As a special exception, if other files instantiate templates or use macros
 * or inline functions from this file, or you compile this file and link it
 * with other works to produce a work based on this file, this file does not
 * by itself cause the resulting work to be covered by the GNU General Public
 * License. However the source code for this file must still be made available
 * in accordance with section (3) of the GNU General Public License.
   *
 * This exception does not invalidate any other reasons why a work based on
 * this file might be covered by the GNU General Public License.
 *
 * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
 * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
 * the sole purpose of creating, using and/or selling or otherwise distributing
 * an EtherCAT network master provided that an EtherCAT Master License is obtained
 * from Beckhoff Automation GmbH.
 *
 * In case you did not receive a copy of the EtherCAT Master License along with
 * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
 * (www.beckhoff.com).
   */

/** \file 
 * \brief
 * Headerfile for ethercatsoe.c 
 */

#ifndef _ethercatsoe_
#define _ethercatsoe_

#define EC_SOE_DATASTATE_B    0x01
#define EC_SOE_NAME_B     0x02
#define EC_SOE_ATTRIBUTE_B    0x04
#define EC_SOE_UNIT_B     0x08
#define EC_SOE_MIN_B      0x10
#define EC_SOE_MAX_B      0x20
#define EC_SOE_VALUE_B      0x40
#define EC_SOE_DEFAULT_B    0x80

#define EC_SOE_MAXNAME      60
#define EC_SOE_MAXMAPPING   64

#define EC_IDN_MDTCONFIG    24
#define EC_IDN_ATCONFIG     16

/** SoE name structure */
typedef struct PACKED
{
  /** current length in bytes of list */
  uint16    currentlength;
  /** maximum length in bytes of list */
  uint16    maxlength;
  char    name[EC_SOE_MAXNAME];
} ec_SoEnamet;

/** SoE list structure */
typedef struct PACKED
{
  /** current length in bytes of list */
  uint16    currentlength;
  /** maximum length in bytes of list */
  uint16    maxlength;
  union
  { 
    uint8 byte[8];
    uint16  word[4];
    uint32  dword[2];
    uint64  lword[1];
  };  
} ec_SoElistt;

/** SoE IDN mapping structure */
typedef struct PACKED
{
  /** current length in bytes of list */
  uint16    currentlength;
  /** maximum length in bytes of list */
  uint16    maxlength;
  uint16    idn[EC_SOE_MAXMAPPING];
} ec_SoEmappingt;

#define EC_SOE_LENGTH_1     0x00
#define EC_SOE_LENGTH_2     0x01
#define EC_SOE_LENGTH_4     0x02
#define EC_SOE_LENGTH_8     0x03
#define EC_SOE_TYPE_BINARY    0x00
#define EC_SOE_TYPE_UINT    0x01
#define EC_SOE_TYPE_INT     0x02
#define EC_SOE_TYPE_HEX     0x03
#define EC_SOE_TYPE_STRING    0x04
#define EC_SOE_TYPE_IDN     0x05
#define EC_SOE_TYPE_FLOAT   0x06
#define EC_SOE_TYPE_PARAMETER 0x07

/** SoE attribute structure */
typedef struct PACKED
{
  /** evaluation factor for display purposes */
  uint32    evafactor :16;
  /** length of IDN element(s) */
  uint32    length    :2;
  /** IDN is list */
  uint32    list    :1;
  /** IDN is command */
  uint32    command   :1;
  /** datatype */
  uint32    datatype  :3;
  uint32    reserved1 :1;
  /** decimals to display if float datatype */
  uint32    decimals  :4;
  /** write protected in pre-op */
  uint32    wppreop   :1;
  /** write protected in safe-op */
  uint32    wpsafeop  :1;
  /** write protected in op */
  uint32    wpop    :1;
  uint32    reserved2 :1;
} ec_SoEattributet;

int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
int ec_readIDNmap(uint16 slave, int *Osize, int *Isize);

#endif