ethercatcoe.h

Go to the documentation of this file.
00001 /*
00002  * Simple Open EtherCAT Master Library 
00003  *
00004  * File    : ethercatcoe.h
00005  * Version : 1.2.5
00006  * Date    : 09-04-2011
00007  * Copyright (C) 2005-2011 Speciaal Machinefabriek Ketels v.o.f.
00008  * Copyright (C) 2005-2011 Arthur Ketels
00009  * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
00010  *
00011  * SOEM is free software; you can redistribute it and/or modify it under
00012  * the terms of the GNU General Public License version 2 as published by the Free
00013  * Software Foundation.
00014  *
00015  * SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
00016  * WARRANTY; without even the implied warranty of MERCHANTABILITY or
00017  * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
00018  * for more details.
00019  *
00020  * As a special exception, if other files instantiate templates or use macros
00021  * or inline functions from this file, or you compile this file and link it
00022  * with other works to produce a work based on this file, this file does not
00023  * by itself cause the resulting work to be covered by the GNU General Public
00024  * License. However the source code for this file must still be made available
00025  * in accordance with section (3) of the GNU General Public License.
00026  *
00027  * This exception does not invalidate any other reasons why a work based on
00028  * this file might be covered by the GNU General Public License.
00029  *
00030  * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
00031  * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
00032  * the sole purpose of creating, using and/or selling or otherwise distributing
00033  * an EtherCAT network master provided that an EtherCAT Master License is obtained
00034  * from Beckhoff Automation GmbH.
00035  *
00036  * In case you did not receive a copy of the EtherCAT Master License along with
00037  * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
00038  * (www.beckhoff.com).
00039  */
00040 
00041 /** \file 
00042  * \brief
00043  * Headerfile for ethercatcoe.c 
00044  */
00045 
00046 #ifndef _ethercatcoe_
00047 #define _ethercatcoe_
00048 
00049 /** max entries in Object Description list */
00050 #define EC_MAXODLIST   1024
00051 
00052 /** max entries in Object Entry list */
00053 #define EC_MAXOELIST   256
00054 
00055 /* Storage for object description list */
00056 typedef struct 
00057 {
00058   /** slave number */
00059     uint16  Slave;
00060     /** number of entries in list */
00061     uint16  Entries;
00062     /** array of indexes */
00063     uint16  Index[EC_MAXODLIST];
00064     /** array of datatypes, see EtherCAT specification */
00065     uint16  DataType[EC_MAXODLIST];
00066     /** array of object codes, see EtherCAT specification */
00067     uint8   ObjectCode[EC_MAXODLIST];
00068     /** number of subindexes for each index */
00069     uint8   MaxSub[EC_MAXODLIST];
00070     /** textual description of each index */
00071     char    Name[EC_MAXODLIST][EC_MAXNAME+1];
00072 } ec_ODlistt;
00073 
00074 /* storage for object list entry information */
00075 typedef struct 
00076 {
00077   /** number of entries in list */
00078     uint16 Entries;
00079     /** array of value infos, see EtherCAT specification */
00080     uint8  ValueInfo[EC_MAXOELIST];
00081     /** array of value infos, see EtherCAT specification */
00082     uint16 DataType[EC_MAXOELIST];
00083     /** array of bit lengths, see EtherCAT specification */
00084     uint16 BitLength[EC_MAXOELIST];
00085     /** array of object access bits, see EtherCAT specification */
00086     uint16 ObjAccess[EC_MAXOELIST];
00087     /** textual description of each index */
00088     char   Name[EC_MAXOELIST][EC_MAXNAME+1];
00089 } ec_OElistt;
00090 
00091 void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
00092 int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
00093                       boolean CA, int *psize, void *p, int timeout);
00094 int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
00095     boolean CA, int psize, void *p, int Timeout);
00096 int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
00097 int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
00098 int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
00099 int ec_readPDOmapCA(uint16 Slave, int *Osize, int *Isize);
00100 int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
00101 int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
00102 int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
00103 
00104 #endif
Generated by  doxygen 1.6.3