fp@0: //---------------------------------------------------------------
fp@0: //
fp@0: //  e c _ c o m m a n d . h
fp@0: //
fp@0: //  $LastChangedDate$
fp@0: //  $Author$
fp@0: //
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: typedef enum {Waiting, Sent, Received} EtherCAT_cmd_status_t;
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: typedef struct EtherCAT_command
fp@0: {
fp@0:   unsigned char command_type;
fp@0:   short ring_position;
fp@0:   unsigned short node_address;
fp@0:   unsigned short mem_address;
fp@0:   unsigned int logical_address;
fp@0:   unsigned int data_length;
fp@0: 
fp@0:   struct EtherCAT_command *next;
fp@0: 
fp@0:   EtherCAT_cmd_status_t status;
fp@0:   unsigned char command_index;
fp@0:   unsigned int working_counter;
fp@0: 
fp@0:   unsigned char *data;
fp@0:   
fp@0: }
fp@0: EtherCAT_command_t;
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: void EtherCAT_command_init(EtherCAT_command_t *);
fp@0: void EtherCAT_command_clear(EtherCAT_command_t *);
fp@0: 
fp@0: // Debug
fp@0: void EtherCAT_command_print_data(EtherCAT_command_t *);
fp@0: 
fp@0: //---------------------------------------------------------------