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1 /**************************************************************** |
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2 * |
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3 * e c _ g l o b a l s . h |
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4 * |
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5 * Globale Definitionen und Makros für das EtherCAT-Protokoll. |
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6 * |
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7 * $Date$ |
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8 * $Author$ |
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9 * |
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10 ***************************************************************/ |
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11 |
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12 #ifndef _EC_GLOBALS_ |
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13 #define _EC_GLOBALS_ |
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14 |
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15 /** |
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16 Maximale Größe eines EtherCAT-Frames |
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17 */ |
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18 #define ECAT_FRAME_BUFFER_SIZE 1600 |
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19 |
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20 /** |
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21 Anzahl der Kommandos in einem Master-Kommandoring |
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22 */ |
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23 #define ECAT_COMMAND_RING_SIZE 10 |
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24 |
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25 /** |
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26 Anzahl der Versuche beim Asynchronen Senden/Empfangen |
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27 */ |
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28 #define ECAT_NUM_RETRIES 10 |
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29 |
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30 /** |
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31 NULL-Define, falls noch nicht definiert. |
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32 */ |
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33 |
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34 #ifndef NULL |
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35 #define NULL ((void *) 0) |
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36 #endif |
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37 |
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38 /** |
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39 EtherCAT-Kommando-Typ |
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40 */ |
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41 |
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42 typedef enum |
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43 { |
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44 ECAT_CMD_NONE = 0x00, /**< Dummy */ |
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45 ECAT_CMD_APRD = 0x01, /**< Auto-increment physical read */ |
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46 ECAT_CMD_APWR = 0x02, /**< Auto-increment physical write */ |
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47 ECAT_CMD_NPRD = 0x04, /**< Node-addressed physical read */ |
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48 ECAT_CMD_NPWR = 0x05, /**< Node-addressed physical write */ |
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49 ECAT_CMD_BRD = 0x07, /**< Broadcast read */ |
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50 ECAT_CMD_BWR = 0x08, /**< Broadcast write */ |
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51 ECAT_CMD_LRW = 0x0C /**< Logical read/write */ |
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52 } |
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53 EtherCAT_cmd_type_t; |
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54 |
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55 /** |
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56 Zustand eines EtherCAT-Slaves |
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57 */ |
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58 |
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59 typedef enum |
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60 { |
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61 ECAT_STATE_UNKNOWN = 0x00, /**< Status unbekannt */ |
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62 ECAT_STATE_INIT = 0x01, /**< Init-Zustand (Keine Mailbox- |
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63 Kommunikation, Kein I/O) */ |
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64 ECAT_STATE_PREOP = 0x02, /**< Pre-Operational (Mailbox- |
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65 Kommunikation, Kein I/O) */ |
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66 ECAT_STATE_SAVEOP = 0x04, /**< Save-Operational (Mailbox- |
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67 Kommunikation und Input Update) */ |
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68 ECAT_STATE_OP = 0x08, /**< Operational, (Mailbox- |
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69 Kommunikation und Input/Output Update) */ |
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70 ECAT_ACK_STATE = 0x10 /**< Acknoledge-Bit beim Zustandswechsel |
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71 (dies ist kein eigener Zustand) */ |
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72 } |
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73 EtherCAT_state_t; |
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74 |
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75 /***************************************************************/ |
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76 |
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77 #endif |