ethercatbase.h

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00001 /*
00002  * Simple Open EtherCAT Master Library 
00003  *
00004  * File    : ethercatbase.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 ethercatbase.c 
00044  */
00045 
00046 #ifndef _ethercatbase_
00047 #define _ethercatbase_
00048 
00049 int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
00050 int ec_adddatagram(void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
00051 int ec_BWR(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
00052 int ec_BRD(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
00053 int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
00054 int ec_ARMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
00055 int ec_FRMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
00056 uint16 ec_APRDw(uint16 ADP, uint16 ADO, int timeout);
00057 int ec_FPRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
00058 uint16 ec_FPRDw(uint16 ADP, uint16 ADO, int16 timeout);
00059 int ec_APWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout);
00060 int ec_APWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
00061 int ec_FPWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout);
00062 int ec_FPWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
00063 int ec_LRW(uint32 LogAdr, uint16 length, void *data, int timeout);
00064 int ec_LRD(uint32 LogAdr, uint16 length, void *data, int timeout);
00065 int ec_LWR(uint32 LogAdr, uint16 length, void *data, int timeout);
00066 int ec_LRWDC(uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout);
00067 
00068 #endif