SOEM/soem/ethercatcoe.h

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