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