soe.h

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/*
 * This file is part of libethercat.
 *
 * libethercat is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 * 
 * libethercat is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License along with libethercat (LICENSE.LGPL-V3); if not, write 
 * to the Free Software Foundation, Inc., 51 Franklin Street, Fifth 
 * Floor, Boston, MA  02110-1301, USA.
 * 
 * Please note that the use of the EtherCAT technology, the EtherCAT 
 * brand name and the EtherCAT logo is only permitted if the property 
 * rights of Beckhoff Automation GmbH are observed. For further 
 * information please contact Beckhoff Automation GmbH & Co. KG, 
 * Hülshorstweg 20, D-33415 Verl, Germany (www.beckhoff.com) or the 
 * EtherCAT Technology Group, Ostendstraße 196, D-90482 Nuremberg, 
 * Germany (ETG, www.ethercat.org).
 *
 */
 
#ifndef LIBETHERCAT_SOE_H
#define LIBETHERCAT_SOE_H
 
#include <libosal/types.h>
#include <libosal/mutex.h>
 
#include "libethercat/common.h"
 
typedef struct ec_soe {
    pool_t recv_pool;       
    osal_mutex_t lock;      
} ec_soe_t;                 
 
typedef struct PACKED ec_soe_idn_attribute {
    osal_uint32_t evafactor   :16;          
    osal_uint32_t length      :2;           
    osal_uint32_t list        :1;           
    osal_uint32_t command     :1;           
    osal_uint32_t datatype    :3;           
    osal_uint32_t reserved1   :1;           
    osal_uint32_t decimals    :4;           
    osal_uint32_t wp_preop    :1;           
    osal_uint32_t wp_safeop   :1;           
    osal_uint32_t wp_op       :1;           
    osal_uint32_t reserved2   :1;           
} PACKED ec_soe_idn_attribute_t;
 
enum ec_soe_element {
    EC_SOE_DATASTATE   = 0x01,              
    EC_SOE_NAME        = 0x02,              
    EC_SOE_ATTRIBUTE   = 0x04,              
    EC_SOE_UNIT        = 0x08,              
    EC_SOE_MIN         = 0x10,              
    EC_SOE_MAX         = 0x20,              
    EC_SOE_VALUE       = 0x40,              
    EC_SOE_DEFAULT     = 0x80               
};
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
void ec_soe_init(ec_t *pec, osal_uint16_t slave);
 
 
void ec_soe_deinit(ec_t *pec, osal_uint16_t slave);
 
 
void ec_soe_enqueue(ec_t *pec, osal_uint16_t slave, pool_entry_t *p_entry);
 
 
int ec_soe_read(ec_t *pec, osal_uint16_t slave, osal_uint8_t atn, osal_uint16_t idn, 
        osal_uint8_t *elements, osal_uint8_t *buf, osal_size_t *len);
 
 
int ec_soe_write(ec_t *pec, osal_uint16_t slave, osal_uint8_t atn, osal_uint16_t idn, 
        osal_uint8_t elements, osal_uint8_t *buf, osal_size_t len);
 
 
int ec_soe_generate_mapping(ec_t *pec, osal_uint16_t slave);
 
#ifdef __cplusplus
}
#endif
 
#endif // LIBETHERCAT_SOE_H