118 lines
3.5 KiB
C
118 lines
3.5 KiB
C
/*
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* SOES Simple Open EtherCAT Slave
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*
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* File : esc_coe.h
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* Version : 0.9.2
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* Date : 22-02-2010
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* Copyright (C) 2007-2013 Arthur Ketels
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*
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* SOES is free software; you can redistribute it and/or modify it under
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* the terms of the GNU General Public License version 2 as published by the Free
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* Software Foundation.
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*
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* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
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* WARRANTY; without even the implied warranty of MERCHANTABILITY or
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* As a special exception, if other files instantiate templates or use macros
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* or inline functions from this file, or you compile this file and link it
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* with other works to produce a work based on this file, this file does not
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* by itself cause the resulting work to be covered by the GNU General Public
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* License. However the source code for this file must still be made available
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* in accordance with section (3) of the GNU General Public License.
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*
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* This exception does not invalidate any other reasons why a work based on
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* this file might be covered by the GNU General Public License.
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*
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* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
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* property of, and protected by Beckhoff Automation GmbH.
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*/
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/** \file
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* \brief
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* Headerfile for esc_coe.c
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*/
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#ifndef __esc_coe__
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#define __esc_coe__
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typedef struct PACKED
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{
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uint16 subindex;
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uint16 datatype;
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uint16 bitlength;
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uint16 access;
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const char *name;
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uint32 value;
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void *data;
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} _objd;
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typedef struct PACKED
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{
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uint16 index;
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uint16 objtype;
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uint8 maxsub;
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uint8 pad1;
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const char *name;
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const _objd *objdesc;
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} _objectlist;
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#define OBJH_READ 0
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#define OBJH_WRITE 1
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/* #define _ac const char */
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#define nil 0
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#define OTYPE_DOMAIN 0x0002
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#define OTYPE_DEFTYPE 0x0005
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#define OTYPE_DEFSTRUCT 0x0006
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#define OTYPE_VAR 0x0007
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#define OTYPE_ARRAY 0x0008
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#define OTYPE_RECORD 0x0009
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#define DTYPE_BOOLEAN 0x0001
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#define DTYPE_INTEGER8 0x0002
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#define DTYPE_INTEGER16 0x0003
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#define DTYPE_INTEGER32 0x0004
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#define DTYPE_UNSIGNED8 0x0005
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#define DTYPE_UNSIGNED16 0x0006
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#define DTYPE_UNSIGNED32 0x0007
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#define DTYPE_REAL32 0x0008
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#define DTYPE_VISIBLE_STRING 0x0009
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#define DTYPE_OCTET_STRING 0x000A
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#define DTYPE_UNICODE_STRING 0x000B
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#define DTYPE_INTEGER24 0x0010
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#define DTYPE_UNSIGNED24 0x0016
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#define DTYPE_INTEGER64 0x0015
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#define DTYPE_UNSIGNED64 0x001B
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#define DTYPE_REAL64 0x0011
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#define DTYPE_PDO_MAPPING 0x0021
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#define DTYPE_IDENTITY 0x0023
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#define DTYPE_BIT1 0x0030
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#define DTYPE_BIT2 0x0031
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#define DTYPE_BIT3 0x0032
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#define DTYPE_BIT4 0x0033
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#define DTYPE_BIT5 0x0034
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#define DTYPE_BIT6 0x0035
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#define DTYPE_BIT7 0x0036
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#define DTYPE_BIT8 0x0037
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#define ATYPE_R 0x07
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#define ATYPE_RW 0x3F
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#define ATYPE_RWpre 0x0F
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#define ATYPE_RXPDO 0x40
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#define ATYPE_TXPDO 0x80
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void ESC_coeprocess (void);
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uint16 sizeTXPDO (void);
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uint16 sizeRXPDO (void);
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extern void ESC_objecthandler (uint16 index, uint8 subindex);
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extern const _objectlist SDOobjects[];
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extern const _objd SDO1C12[];
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extern const _objd SDO1C13[];
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#endif
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