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/****************************************************************
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*
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* e c _ s l a v e . h
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*
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* Struktur für einen EtherCAT-Slave.
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*
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* $Date$
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* $Author$
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*
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***************************************************************/
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#ifndef _EC_SLAVE_H_
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#define _EC_SLAVE_H_
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#include "ec_types.h"
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/***************************************************************/
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/**
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EtherCAT-Slave
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*/
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typedef struct
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{
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// Base data
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unsigned char type; /**< Slave-Typ */
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unsigned char revision; /**< Revision */
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unsigned short build; /**< Build-Nummer */
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// Addresses
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short ring_position; /**< (Negative) Position des Slaves im Bus */
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unsigned short station_address; /**< Konfigurierte Slave-Adresse */
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// Slave information interface
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unsigned int vendor_id; /**< Identifikationsnummer des Herstellers */
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unsigned int product_code; /**< Herstellerspezifischer Produktcode */
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unsigned int revision_number; /**< Revisionsnummer */
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const EtherCAT_slave_desc_t *desc; /**< Zeiger auf die Beschreibung
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des Slave-Typs */
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unsigned int logical_address0; /**< Konfigurierte, logische adresse */
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EtherCAT_state_t current_state; /**< Aktueller Zustand */
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EtherCAT_state_t requested_state; /**< Angeforderter Zustand */
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unsigned char *process_data; /**< Zeiger auf den Speicherbereich
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im Prozessdatenspeicher des Masters */
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}
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EtherCAT_slave_t;
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#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, \
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TYPE, 0, ECAT_STATE_UNKNOWN, \
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ECAT_STATE_UNKNOWN, NULL}
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/***************************************************************/
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// Slave construction and deletion
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void EtherCAT_slave_init(EtherCAT_slave_t *);
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void EtherCAT_slave_clear(EtherCAT_slave_t *);
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int EtherCAT_read_value(EtherCAT_slave_t *, unsigned int);
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void EtherCAT_write_value(EtherCAT_slave_t *, unsigned int, int);
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/***************************************************************/
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#endif
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