SOES/soes/esc_coe.h

/*
 * SOES Simple Open EtherCAT Slave
 *
 * Copyright (C) 2007-2013 Arthur Ketels
 *
 * SOES 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.
 *
 * SOES 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.
 */

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

#ifndef __esc_coe__
#define __esc_coe__

#include <cc.h>

typedef struct CC_PACKED
{
   uint16_t subindex;
   uint16_t datatype;
   uint16_t bitlength;
   uint16_t access;
   const char *name;
   uint32_t value;
   void *data;
} _objd;

typedef struct CC_PACKED
{
   uint16_t index;
   uint16_t objtype;
   uint8_t maxsub;
   uint8_t pad1;
   const char *name;
   const _objd *objdesc;
} _objectlist;

#define OBJH_READ               0
#define OBJH_WRITE              1

#define OTYPE_DOMAIN            0x0002
#define OTYPE_DEFTYPE           0x0005
#define OTYPE_DEFSTRUCT         0x0006
#define OTYPE_VAR               0x0007
#define OTYPE_ARRAY             0x0008
#define OTYPE_RECORD            0x0009

#define DTYPE_BOOLEAN           0x0001
#define DTYPE_INTEGER8          0x0002
#define DTYPE_INTEGER16         0x0003
#define DTYPE_INTEGER32         0x0004
#define DTYPE_UNSIGNED8         0x0005
#define DTYPE_UNSIGNED16        0x0006
#define DTYPE_UNSIGNED32        0x0007
#define DTYPE_REAL32            0x0008
#define DTYPE_VISIBLE_STRING    0x0009
#define DTYPE_OCTET_STRING      0x000A
#define DTYPE_UNICODE_STRING    0x000B
#define DTYPE_INTEGER24         0x0010
#define DTYPE_UNSIGNED24        0x0016
#define DTYPE_INTEGER64         0x0015
#define DTYPE_UNSIGNED64        0x001B
#define DTYPE_REAL64            0x0011
#define DTYPE_PDO_MAPPING       0x0021
#define DTYPE_IDENTITY          0x0023
#define DTYPE_BIT1              0x0030
#define DTYPE_BIT2              0x0031
#define DTYPE_BIT3              0x0032
#define DTYPE_BIT4              0x0033
#define DTYPE_BIT5              0x0034
#define DTYPE_BIT6              0x0035
#define DTYPE_BIT7              0x0036
#define DTYPE_BIT8              0x0037

#define ATYPE_RO                0x07
#define ATYPE_RW                0x3F
#define ATYPE_RWpre             0x0F
#define ATYPE_RXPDO             0x40
#define ATYPE_TXPDO             0x80

void ESC_coeprocess (void);
uint16_t sizeTXPDO (void);
uint16_t sizeRXPDO (void);

extern void ESC_objecthandler (uint16_t index, uint8_t subindex);
extern const _objectlist SDOobjects[];
extern const _objd SDO1C12[];
extern const _objd SDO1C13[];


#endif