www.pudn.com > ethercat-slave-source-code.rar > ecatsoe.h, change:2013-05-03,size:5134b
/**
* \addtogroup SoE Servo Drive Profile over EtherCAT
* @{
*/
/**
\file ecatsoe.h
\author EthercatSSC@beckhoff.com
\brief SoE structures and defines
\version 5.01
<br>Changes to version - :<br>
V5.01 : Start file change log
*/
#ifndef _ECATSOE_H_
#define _ECATSOE_H_
/*-----------------------------------------------------------------------------------------
------
------ Includes
------
-----------------------------------------------------------------------------------------*/
#include "mailbox.h"
/*-----------------------------------------------------------------------------------------
------
------ Defines and Types
------
-----------------------------------------------------------------------------------------*/
/*---------------------------------------------
- Error Codes
-----------------------------------------------*/
#define ERROR_SOEINVALIDSERVICE 0x1001 /**< \brief SoE Error Code : Invalid service*/
#define ERROR_SOENOTSUPPORTED 0x1002 /**< \brief SoE Error Code : Not supported*/
/*---------------------------------------------
- SOE services
-----------------------------------------------*/
#define ECAT_SOE_OPCODE_RRQ 1 /**< \brief SoE Read Request*/
#define ECAT_SOE_OPCODE_RRS 2 /**< \brief SoE Read Response*/
#define ECAT_SOE_OPCODE_WRQ 3 /**< \brief SoE Write Request*/
#define ECAT_SOE_OPCODE_WRS 4 /**< \brief SoE Write Response*/
#define ECAT_SOE_OPCODE_NFC 5 /**< \brief SoE Notification Request*/
#define ECAT_SOE_OPCODE_EMCY 6 /**< \brief SoE Emergency*/
/*---------------------------------------------
- SOE Structures
-----------------------------------------------*/
/** \brief SoE Header*/
typedef struct MBX_STRUCT_PACKED_START
{
union MBX_STRUCT_PACKED_START
{
UINT16 Word; /**< \brief Flags buffer*/
#define SOEFLAGS_OPCODE 0x0007 /**< \brief SoE Flags*/
/**<
* 0 = unused<br>
* 1 = readReq<br>
* 2 = readRes<br>
* 3 = writeReq<br>
* 4 = writeRes<br>
* 5 = notification (command changed notification)*/
#define SOEFLAGS_INCOMPLETE 0x0008 /**< \brief more follows*/
#define SOEFLAGS_ERROR 0x0010 /**< \brief an error word follows*/
#define SOEFLAGS_DRIVENO 0x00E0 /**< \brief drive number*/
#define SOEFLAGS_DATASTATE 0x0100 /**< \brief Data state follows or requested*/
#define SOEFLAGS_NAME 0x0200 /**< \brief Name follows or requested*/
#define SOEFLAGS_ATTRIBUTE 0x0400 /**< \brief Attribute follows or requested*/
#define SOEFLAGS_UNIT 0x0800 /**< \brief Unit follows or requested*/
#define SOEFLAGS_MIN 0x1000 /**< \brief Min value follows or requested*/
#define SOEFLAGS_MAX 0x2000 /**< \brief Max value follows or requested*/
#define SOEFLAGS_VALUE 0x4000 /**< \brief Value follows or requested*/
#define SOEFLAGS_DEFAULT 0x8000 /**< \brief Default value*/
}MBX_STRUCT_PACKED_END
Flags;/**< \brief Flags variable*/
UINT16 IDN_Frag; /**< \brief IDN fragments
*
* if (InComplete==0) SERCOS IDN else FragmentsLeft
*/
}MBX_STRUCT_PACKED_END
TSOEHEADER;
#define SOE_HEADER_SIZE SIZEOF(TSOEHEADER) /**< \brief Sdo header size*/
/**
*Complete SoE Datagram including mailbox header, SoE header data
*/
typedef struct MBX_STRUCT_PACKED_START
{
TMBXHEADER MbxHeader; /**< \brief Mailbox header*/
TSOEHEADER SoeHeader; /**< \brief SoE header*/
UINT8 Data[(MAX_MBX_SIZE) - SOE_HEADER_SIZE]; /**< \brief buffer for SoE data*/
}MBX_STRUCT_PACKED_END
TSOEMBX;
#endif //_ECATSOE_H_
/*-----------------------------------------------------------------------------------------
------
------ Global Variables
------
-----------------------------------------------------------------------------------------*/
#if _ECATSOE_
#define PROTO
#else
#define PROTO extern
#endif
/*-----------------------------------------------------------------------------------------
------
------ Global Functions
------
-----------------------------------------------------------------------------------------*/
PROTO void SOE_Init(void);
PROTO UINT8 SOE_ServiceInd(TMBX MBXMEM *pReceiveMbx);
PROTO void SOE_ContinueInd(TMBX MBXMEM * pMbx);
PROTO void SOE_ReadInd(TSOEMBX MBXMEM *pSoeMbx);
PROTO void SOE_WriteInd(TSOEMBX MBXMEM *pSoeMbx);
PROTO UINT16 SOE_NotificationReq(UINT16 idn, UINT16 channel, UINT16 dataState);
#undef PROTO
/** @}*/