00001 // 00002 // © 2010 Shadow Robot Company Limited. 00003 // 00004 // FileName: ethercat_can_bridge_protocol.h 00005 // Dependencies: 00006 // Processor: PIC32 00007 // Compiler: MPLAB® C32 00008 // 00009 // +------------------------------------------------------------------------+ 00010 // | This file is part of The Shadow Robot PIC32 firmware code base. | 00011 // | | 00012 // | It is free software: you can redistribute it and/or modify | 00013 // | it under the terms of the GNU General Public License as published by | 00014 // | the Free Software Foundation, either version 3 of the License, or | 00015 // | (at your option) any later version. | 00016 // | | 00017 // | It is distributed in the hope that it will be useful, | 00018 // | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00019 // | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00020 // | GNU General Public License for more details. | 00021 // | | 00022 // | You should have received a copy of the GNU General Public License | 00023 // | along with this code repository. The text of the license can be found | 00024 // | in Pic32/License/gpl.txt. If not, see <http://www.gnu.org/licenses/>. | 00025 // +------------------------------------------------------------------------+ 00026 // 00027 // 00028 // 00029 // Doxygen 00030 // ------- 00031 // 00042 // 00043 00044 #ifndef ETHERCAT_CAN_BRIDGE_PROTOCOL_H_INCLUDED 00045 #define ETHERCAT_CAN_BRIDGE_PROTOCOL_H_INCLUDED 00046 00047 00052 typedef struct 00053 { 00054 int8u can_bus; 00055 int8u message_length; 00056 int16u message_id; 00057 int8u message_data[8]; 00058 } __attribute__((packed)) ETHERCAT_CAN_BRIDGE_DATA; 00059 00060 #define ETHERCAT_CAN_BRIDGE_DATA_SIZE sizeof(ETHERCAT_CAN_BRIDGE_DATA) 00061 00062 00074 00075 00076 00077 #endif