| author | Florian Pose <fp@igh-essen.com> |
| Fri, 11 Nov 2005 10:55:22 +0000 | |
| changeset 10 | 67c739ece5d5 |
| parent 5 | 6f2508af550c |
| child 39 | 6965c23a6826 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/**************************************************************** |
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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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5
6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
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6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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Achtung: Bei Änderungen dieser Struktur immer das Define |
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6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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ECAT_INIT_SLAVE anpassen! |
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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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5
6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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unsigned int serial_number; /**< Seriennummer der Klemme */ |
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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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5
6f2508af550c
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
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#define ECAT_INIT_SLAVE(TYPE) {0, 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 |