1

//---------------------------------------------------------------

     2

//

     3

//  e c _ c o m m a n d . h

     4

//

     5

//  $LastChangedDate$

     6

//  $Author$

     7

//

     8

//---------------------------------------------------------------

     9

    10

typedef enum {Waiting, Sent, Received} EtherCAT_cmd_status_t;

    11

    12

//---------------------------------------------------------------

    13

    14

typedef struct EtherCAT_command

    15

{

    16

  unsigned char command_type;

    17

  short ring_position;

    18

  unsigned short node_address;

    19

  unsigned short mem_address;

    20

  unsigned int logical_address;

    21

  unsigned int data_length;

    22

    23

  struct EtherCAT_command *next;

    24

    25

  EtherCAT_cmd_status_t status;

    26

  unsigned char command_index;

    27

  unsigned int working_counter;

    28

    29

  unsigned char *data;

    30

    31

}

    32

EtherCAT_command_t;

    33

    34

//---------------------------------------------------------------

    35

    36

void EtherCAT_command_init(EtherCAT_command_t *);

    37

void EtherCAT_command_clear(EtherCAT_command_t *);

    38

    39

// Debug

    40

void EtherCAT_command_print_data(EtherCAT_command_t *);

    41

    42

//---------------------------------------------------------------