mirror of
https://github.com/OpenEtherCATsociety/SOEM.git
synced 2026-02-06 18:30:09 +08:00
ed3ce755f2
Use a less generic name to avoid namespace conflicts. Fixes #835. Change-Id: I222878742ed7d02d19ad50ff732adabfe4f0729a
122 lines
2.9 KiB
C
122 lines
2.9 KiB
C
/*
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* This software is dual-licensed under GPLv3 and a commercial
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* license. See the file LICENSE.md distributed with this software for
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* full license information.
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*/
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/** \file
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* \brief
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* Headerfile for ec_soe.c
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*/
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#ifndef _ec_soe_
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#define _ec_soe_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define EC_SOE_DATASTATE_B 0x01
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#define EC_SOE_NAME_B 0x02
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#define EC_SOE_ATTRIBUTE_B 0x04
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#define EC_SOE_UNIT_B 0x08
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#define EC_SOE_MIN_B 0x10
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#define EC_SOE_MAX_B 0x20
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#define EC_SOE_VALUE_B 0x40
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#define EC_SOE_DEFAULT_B 0x80
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#define EC_IDN_MDTCONFIG 24
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#define EC_IDN_ATCONFIG 16
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/** SoE name structure */
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OSAL_PACKED_BEGIN
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typedef struct OSAL_PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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char name[EC_SOE_MAXNAME];
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} ec_SoEnamet;
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OSAL_PACKED_END
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/** SoE list structure */
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OSAL_PACKED_BEGIN
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typedef struct OSAL_PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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union
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{
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uint8 byte[8];
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uint16 word[4];
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uint32 dword[2];
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uint64 lword[1];
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};
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} ec_SoElistt;
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OSAL_PACKED_END
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/** SoE IDN mapping structure */
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OSAL_PACKED_BEGIN
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typedef struct OSAL_PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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uint16 idn[EC_SOE_MAXMAPPING];
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} ec_SoEmappingt;
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OSAL_PACKED_END
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#define EC_SOE_LENGTH_1 0x00
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#define EC_SOE_LENGTH_2 0x01
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#define EC_SOE_LENGTH_4 0x02
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#define EC_SOE_LENGTH_8 0x03
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#define EC_SOE_TYPE_BINARY 0x00
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#define EC_SOE_TYPE_UINT 0x01
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#define EC_SOE_TYPE_INT 0x02
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#define EC_SOE_TYPE_HEX 0x03
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#define EC_SOE_TYPE_STRING 0x04
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#define EC_SOE_TYPE_IDN 0x05
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#define EC_SOE_TYPE_FLOAT 0x06
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#define EC_SOE_TYPE_PARAMETER 0x07
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/** SoE attribute structure */
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OSAL_PACKED_BEGIN
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typedef struct OSAL_PACKED
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{
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/** evaluation factor for display purposes */
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uint32 evafactor : 16;
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/** length of IDN element(s) */
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uint32 length : 2;
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/** IDN is list */
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uint32 list : 1;
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/** IDN is command */
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uint32 command : 1;
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/** datatype */
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uint32 datatype : 3;
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uint32 reserved1 : 1;
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/** decimals to display if float datatype */
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uint32 decimals : 4;
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/** write protected in pre-op */
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uint32 wppreop : 1;
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/** write protected in safe-op */
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uint32 wpsafeop : 1;
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/** write protected in op */
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uint32 wpop : 1;
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uint32 reserved2 : 1;
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} ec_SoEattributet;
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OSAL_PACKED_END
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int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
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int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
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int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *Isize);
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#ifdef __cplusplus
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}
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#endif
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#endif
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