101 EC_MBOX_VOE = 0x20 /**< Vendor specific */ |
101 EC_MBOX_VOE = 0x20 /**< Vendor specific */ |
102 }; |
102 }; |
103 |
103 |
104 /*****************************************************************************/ |
104 /*****************************************************************************/ |
105 |
105 |
106 /** Slave information interface CAnopen-over-EtherCAT details flags. |
106 /** Slave information interface CANopen-over-EtherCAT details flags. |
107 */ |
107 */ |
108 typedef struct { |
108 typedef struct { |
109 uint8_t enable_sdo : 1; /**< Enable Sdo access. */ |
109 uint8_t enable_sdo : 1; /**< Enable Sdo access. */ |
110 uint8_t enable_sdo_info : 1; /**< SDO information service available. */ |
110 uint8_t enable_sdo_info : 1; /**< SDO information service available. */ |
111 uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */ |
111 uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */ |
112 uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */ |
112 uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */ |
113 uint8_t enable_upload_at_startup : 1; /**< ? */ |
113 uint8_t enable_upload_at_startup : 1; /**< ?. */ |
114 uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */ |
114 uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */ |
115 } ec_sii_coe_details_t; |
115 } ec_sii_coe_details_t; |
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116 |
|
117 /*****************************************************************************/ |
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118 |
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119 /** Slave information interface general flags. |
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120 */ |
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121 typedef struct { |
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122 uint8_t enable_safeop : 1; /**< ?. */ |
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123 uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */ |
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124 } ec_sii_general_flags_t; |
116 |
125 |
117 /*****************************************************************************/ |
126 /*****************************************************************************/ |
118 |
127 |
119 /** Slave information interface data. |
128 /** Slave information interface data. |
120 */ |
129 */ |
141 char *image; /**< slave image name acc. to EEPROM */ |
150 char *image; /**< slave image name acc. to EEPROM */ |
142 char *order; /**< slave order number acc. to EEPROM */ |
151 char *order; /**< slave order number acc. to EEPROM */ |
143 char *name; /**< slave name acc. to EEPROM */ |
152 char *name; /**< slave name acc. to EEPROM */ |
144 uint8_t physical_layer[4]; /**< port media */ |
153 uint8_t physical_layer[4]; /**< port media */ |
145 ec_sii_coe_details_t coe_details; /**< CoE detail flags. */ |
154 ec_sii_coe_details_t coe_details; /**< CoE detail flags. */ |
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155 ec_sii_general_flags_t general_flags; /**< General flags. */ |
146 int16_t current_on_ebus; /**< power consumption */ |
156 int16_t current_on_ebus; /**< power consumption */ |
147 |
157 |
148 // SyncM |
158 // SyncM |
149 ec_sync_t *syncs; /**< EEPROM SYNC MANAGER categories */ |
159 ec_sync_t *syncs; /**< EEPROM SYNC MANAGER categories */ |
150 unsigned int sync_count; /**< number of sync managers in EEPROM */ |
160 unsigned int sync_count; /**< number of sync managers in EEPROM */ |