| author | Florian Pose <fp@igh-essen.com> |
| Fri, 23 Dec 2005 08:20:10 +0000 | |
| changeset 40 | d07ebafe62dd |
| parent 39 | 6965c23a6826 |
| child 41 | 42c66194c0c8 |
| permissions | -rw-r--r-- |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
19
diff
changeset
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/****************************************************************************** |
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* e c _ g l o b a l s . h |
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* |
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* Globale Definitionen und Makros für das EtherCAT-Protokoll. |
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* |
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39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
19
diff
changeset
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* $Id$ |
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* |
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39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
19
diff
changeset
|
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*****************************************************************************/ |
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#ifndef _EC_GLOBALS_ |
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#define _EC_GLOBALS_ |
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/** |
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Maximale Größe eines EtherCAT-Frames |
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*/ |
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a51289e6cb2d
Warten beim Empfangen der Prozessdaten, Bugfix und kleinere Verbesserungen.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
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#define ECAT_FRAME_BUFFER_SIZE 1500 |
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/** |
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NULL-Define, falls noch nicht definiert. |
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*/ |
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#ifndef NULL |
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#define NULL ((void *) 0) |
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#endif |
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/** |
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EtherCAT-Kommando-Typ |
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*/ |
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typedef enum |
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{
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ECAT_CMD_NONE = 0x00, /**< Dummy */ |
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ECAT_CMD_APRD = 0x01, /**< Auto-increment physical read */ |
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ECAT_CMD_APWR = 0x02, /**< Auto-increment physical write */ |
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ECAT_CMD_NPRD = 0x04, /**< Node-addressed physical read */ |
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ECAT_CMD_NPWR = 0x05, /**< Node-addressed physical write */ |
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ECAT_CMD_BRD = 0x07, /**< Broadcast read */ |
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ECAT_CMD_BWR = 0x08, /**< Broadcast write */ |
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ECAT_CMD_LRW = 0x0C /**< Logical read/write */ |
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} |
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EtherCAT_cmd_type_t; |
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/** |
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Zustand eines EtherCAT-Slaves |
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*/ |
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typedef enum |
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{
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ECAT_STATE_UNKNOWN = 0x00, /**< Status unbekannt */ |
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ECAT_STATE_INIT = 0x01, /**< Init-Zustand (Keine Mailbox- |
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Kommunikation, Kein I/O) */ |
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ECAT_STATE_PREOP = 0x02, /**< Pre-Operational (Mailbox- |
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Kommunikation, Kein I/O) */ |
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ECAT_STATE_SAVEOP = 0x04, /**< Save-Operational (Mailbox- |
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Kommunikation und Input Update) */ |
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ECAT_STATE_OP = 0x08, /**< Operational, (Mailbox- |
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Kommunikation und Input/Output Update) */ |
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ECAT_ACK_STATE = 0x10 /**< Acknoledge-Bit beim Zustandswechsel |
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(dies ist kein eigener Zustand) */ |
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} |
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EtherCAT_state_t; |
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39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
19
diff
changeset
|
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/*****************************************************************************/ |
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#endif |