ethercatsoe.h

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/*
 * Simple Open EtherCAT Master Library 
 *
 * File    : ethercatsoe.h
 * Version : 1.3.0
 * Date    : 24-02-2013
 * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
 * Copyright (C) 2005-2013 Arthur Ketels
 * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
 *
 * SOEM 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.
 *
 * SOEM 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. You can use SOEM for
 * the sole purpose of creating, using and/or selling or otherwise distributing
 * an EtherCAT network master provided that an EtherCAT Master License is obtained
 * from Beckhoff Automation GmbH.
 *
 * In case you did not receive a copy of the EtherCAT Master License along with
 * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
 * (www.beckhoff.com).
    */

#ifndef _ethercatsoe_
#define _ethercatsoe_

#ifdef __cplusplus
extern "C"
{
#endif

#define EC_SOE_DATASTATE_B   0x01
#define EC_SOE_NAME_B        0x02
#define EC_SOE_ATTRIBUTE_B   0x04
#define EC_SOE_UNIT_B        0x08
#define EC_SOE_MIN_B         0x10
#define EC_SOE_MAX_B         0x20
#define EC_SOE_VALUE_B       0x40
#define EC_SOE_DEFAULT_B     0x80

#define EC_SOE_MAXNAME       60
#define EC_SOE_MAXMAPPING    64

#define EC_IDN_MDTCONFIG     24
#define EC_IDN_ATCONFIG      16

PACKED_BEGIN
typedef struct PACKED
{
   uint16     currentlength;
   uint16     maxlength;
   char       name[EC_SOE_MAXNAME];
} ec_SoEnamet;
PACKED_END

PACKED_BEGIN
typedef struct PACKED
{
   uint16     currentlength;
   uint16     maxlength;
   union
   {   
      uint8   byte[8];
      uint16  word[4];
      uint32  dword[2];
      uint64  lword[1];
   };   
} ec_SoElistt;
PACKED_END

PACKED_BEGIN
typedef struct PACKED
{
   uint16     currentlength;
   uint16     maxlength;
   uint16     idn[EC_SOE_MAXMAPPING];
} ec_SoEmappingt;
PACKED_END

#define EC_SOE_LENGTH_1         0x00
#define EC_SOE_LENGTH_2         0x01
#define EC_SOE_LENGTH_4         0x02
#define EC_SOE_LENGTH_8         0x03
#define EC_SOE_TYPE_BINARY      0x00
#define EC_SOE_TYPE_UINT        0x01
#define EC_SOE_TYPE_INT         0x02
#define EC_SOE_TYPE_HEX         0x03
#define EC_SOE_TYPE_STRING      0x04
#define EC_SOE_TYPE_IDN         0x05
#define EC_SOE_TYPE_FLOAT       0x06
#define EC_SOE_TYPE_PARAMETER   0x07

PACKED_BEGIN
typedef struct PACKED
{
   uint32     evafactor   :16;
   uint32     length      :2;
   uint32     list        :1;
   uint32     command     :1;
   uint32     datatype    :3;
   uint32     reserved1   :1;
   uint32     decimals    :4;
   uint32     wppreop     :1;
   uint32     wpsafeop    :1;
   uint32     wpop        :1;
   uint32     reserved2   :1;
} ec_SoEattributet;
PACKED_END

#ifdef EC_VER1
int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
int ec_readIDNmap(uint16 slave, int *Osize, int *Isize);
#endif

int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize);

#ifdef __cplusplus
}
#endif

#endif