sdk-bsp-rk3506-realthread-ruichingpi/rt-thread/components/industrial_bus/ethercat/ecat_service.h

/**
 * RT-Thread RuiChing
 *
 * COPYRIGHT (C) 2024-2025 Shanghai Real-Thread Electronic Technology Co., Ltd.
 * All rights reserved.
 *
 * The license and distribution terms for this file may be
 * found in the file LICENSE in this distribution.
 */
#include <rtthread.h>

#ifndef __ECAT_SERVICE_H__
#define __ECAT_SERVICE_H__

#define ECAT_SERVICE_MASTER_INIT             (0x01)
#define ECAT_SERVICE_MASTER_DEINIT           (0x02)
#define ECAT_SERVICE_MASTER_START            (0x03)
#define ECAT_SERVICE_MASTER_STOP             (0x04)
#define ECAT_SERVICE_MASTER_STATE            (0x05)
#define ECAT_SERVICE_SLAVE_STATE             (0x06)
#define ECAT_SERVICE_SLAVE_INFO              (0x07)
#define ECAT_SERVICE_SDO_WRITE               (0x08)
#define ECAT_SERVICE_SDO_READ                (0x09)
#define ECAT_SERVICE_DC_CONFIG               (0x0A)
#define ECAT_SERVICE_DC_CONFIG_EX            (0x0B)
#define ECAT_SERVICE_SLAVE_COUNT             (0x10)

#define ECAT_SERVICE_SET_STATE               (0x11)
#define ECAT_SERVICE_CHECT_STATE             (0x12)
#define ECAT_SERVICE_INIT_CONFIG             (0x13)
#define ECAT_SERVICE_CONFIG_DC               (0x14)
#define ECAT_SERVICE_CONFIG_MAP_GROUP        (0x15)
#define ECAT_SERVICE_SEND_PROCESS_DATA_GROUP (0x16)
#define ECAT_SERVICE_RECV_PROCESS_DATA_GROUP (0x17)
#define ECAT_SERVICE_TIMERSTART              (0x18)
#define ECAT_SERVICE_TIMER_ISEXPIRED         (0x19)
#define ECAT_SERVICE_HWTIMER_START           (0x20)
#define ECAT_SERVICE_SYNC_DC                 (0x0)

#define ECAT_SERVICE_SLAVE_CONFIG            (0x21)

struct ecat_master_state_arg
{
    ec_master_t *master;
    ec_master_state_t *state;
};

struct ecat_slave_state_arg
{
    ec_master_t *master;
    ec_slave_state_t *state;
    uint16_t slave;
};

struct ecat_state_arg
{
    ec_master_t *master;
    uint16_t *state;
    uint16_t slave;
    int timeout;
};

struct ecat_slave_info_arg
{
    ec_master_t *master;
    ec_slave_info_t *info;
    uint16_t slave;
};

struct ecat_slave_config_arg
{
    ec_master_t *master;
    ec_slave_config_t *config;
    uint16_t slave;
};

struct ecat_pdo_arg
{
    ec_master_t *master;
    void *data;
    int size;
    int timeout;
    uint16_t slave;
    uint16_t index;
    uint8_t subindex;
    uint8_t complete_access;
};

struct ecat_dc_config_arg
{
    ec_master_t *master;
    uint32_t cycle_time;
    int32_t cycle_shift;
    uint16_t slave;
    uint8_t act;
};

struct ecat_dc_config_ex_arg
{
    ec_master_t *master;
    uint32_t cycle_time0;
    uint32_t cycle_time1;
    int32_t cycle_shift;
    uint16_t slave;
    uint8_t act;
};

struct ecat_config_handler_arg
{
    ec_master_t *master;
    void (*handler)(struct ec_master *master);
};

struct ecat_pdo_handler_arg
{
    ec_master_t *master;
    void (*handler)(struct ec_master *master,
        uint16_t slave,
        uint8_t *input,
        uint8_t *output);
};

struct ecat_error_handler_arg
{
    ec_master_t *master;
    void (*handler)(struct ec_master *master,
        uint32_t error_code,
        const unsigned char *error_str);
};

struct ecat_slavecount_arg
{
    ec_master_t *master;
    int count;
};

#endif /* __ECAT_SERVICE_H__ */