54 

    55 /*****************************************************************************/

    56 

    57 /** Slave state mask.

    58  *

    59  * Apply this mask to a slave state byte to get the slave state without

    60  * the error flag.

    61  */

    62 #define EC_SLAVE_STATE_MASK 0x0F

    63 

    64 /*****************************************************************************/

    65 

    66 /** State of an EtherCAT slave.

    67  */

    68 typedef enum {

    69     EC_SLAVE_STATE_UNKNOWN = 0x00,

    70     /**< unknown state */

    71     EC_SLAVE_STATE_INIT = 0x01,

    72     /**< INIT state (no mailbox communication, no IO) */

    73     EC_SLAVE_STATE_PREOP = 0x02,

    74     /**< PREOP state (mailbox communication, no IO) */

    75     EC_SLAVE_STATE_SAFEOP = 0x04,

    76     /**< SAFEOP (mailbox communication and input update) */

    77     EC_SLAVE_STATE_OP = 0x08,

    78     /**< OP (mailbox communication and input/output update) */

    79     EC_SLAVE_STATE_ACK_ERR = 0x10

    80     /**< Acknowledge/Error bit (no actual state) */

    81 } ec_slave_state_t;

    82 

    83 /*****************************************************************************/

    84 

    85 /** Supported mailbox protocols.

    86  */

    87 enum {

    88     EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */

    89     EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */

    90     EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */

    91     EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */

    92     EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */

    93     EC_MBOX_VOE = 0x20  /**< Vendor specific */

    94 };

    95 

    96 /*****************************************************************************/

    97 

    98 /** Slave information interface CANopen-over-EtherCAT details flags.

    99  */

   100 typedef struct {

   101     uint8_t enable_sdo : 1; /**< Enable Sdo access. */

   102     uint8_t enable_sdo_info : 1; /**< SDO information service available. */

   103     uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */

   104     uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */

   105     uint8_t enable_upload_at_startup : 1; /**< ?. */

   106     uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */

   107 } ec_sii_coe_details_t;

   108 

   109 /*****************************************************************************/

   110 

   111 /** Slave information interface general flags.

   112  */

   113 typedef struct {

   114     uint8_t enable_safeop : 1; /**< ?. */

   115     uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */

   116 } ec_sii_general_flags_t;