ros-industrial-attic · qboticslabs · Nov 26, 2018
diff --git a/include/ethercat_soem/ethercat.h b/include/ethercat_soem/ethercat.h
@@ -0,0 +1,25 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for all ethercat headers
+ */
+
+#ifndef _EC_ETHERCAT_H
+#define _EC_ETHERCAT_H
+
+#include "ethercattype.h"
+#include "nicdrv.h"
+#include "ethercatbase.h"
+#include "ethercatmain.h"
+#include "ethercatdc.h"
+#include "ethercatcoe.h"
+#include "ethercatfoe.h"
+#include "ethercatsoe.h"
+#include "ethercatconfig.h"
+#include "ethercatprint.h"
+
+#endif /* _EC_ETHERCAT_H */
diff --git a/include/ethercat_soem/ethercatbase.h b/include/ethercat_soem/ethercatbase.h
@@ -1,46 +1,11 @@
 /*
- * Simple Open EtherCAT Master Library 
- *
- * File    : ethercatbase.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
- *
- * SOEM is free software; you can redistribute it and/or modify it under
- * the terms of the GNU General Public License version 2 as published by the Free
- * Software Foundation.
- *
- * SOEM 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 General Public License
- * for more details.
- *
- * As a special exception, if other files instantiate templates or use macros
- * or inline functions from this file, or you compile this file and link it
- * with other works to produce a work based on this file, this file does not
- * by itself cause the resulting work to be covered by the GNU General Public
- * License. However the source code for this file must still be made available
- * in accordance with section (3) of the GNU General Public License.
- *
- * This exception does not invalidate any other reasons why a work based on
- * this file might be covered by the GNU General Public License.
- *
- * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
- * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
- * the sole purpose of creating, using and/or selling or otherwise distributing
- * an EtherCAT network master provided that an EtherCAT Master License is obtained
- * from Beckhoff Automation GmbH.
- *
- * In case you did not receive a copy of the EtherCAT Master License along with
- * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
- * (www.beckhoff.com).
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatbase.c 
+ * Headerfile for ethercatbase.c
  */
 
 #ifndef _ethercatbase_

diff --git a/include/ethercat_soem/ethercatcoe.h b/include/ethercat_soem/ethercatcoe.h
@@ -1,46 +1,11 @@
 /*
- * Simple Open EtherCAT Master Library 
- *
- * File    : ethercatcoe.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
- *
- * SOEM is free software; you can redistribute it and/or modify it under
- * the terms of the GNU General Public License version 2 as published by the Free
- * Software Foundation.
- *
- * SOEM 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 General Public License
- * for more details.
- *
- * As a special exception, if other files instantiate templates or use macros
- * or inline functions from this file, or you compile this file and link it
- * with other works to produce a work based on this file, this file does not
- * by itself cause the resulting work to be covered by the GNU General Public
- * License. However the source code for this file must still be made available
- * in accordance with section (3) of the GNU General Public License.
- *
- * This exception does not invalidate any other reasons why a work based on
- * this file might be covered by the GNU General Public License.
- *
- * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
- * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
- * the sole purpose of creating, using and/or selling or otherwise distributing
- * an EtherCAT network master provided that an EtherCAT Master License is obtained
- * from Beckhoff Automation GmbH.
- *
- * In case you did not receive a copy of the EtherCAT Master License along with
- * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
- * (www.beckhoff.com).
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatcoe.c 
+ * Headerfile for ethercatcoe.c
  */
 
 #ifndef _ethercatcoe_
@@ -58,7 +23,7 @@ extern "C"
 #define EC_MAXOELIST   256
 
 /* Storage for object description list */
-typedef struct 
+typedef struct
 {
    /** slave number */
    uint16  Slave;
@@ -77,7 +42,7 @@ typedef struct
 } ec_ODlistt;
 
 /* storage for object list entry information */
-typedef struct 
+typedef struct
 {
    /** number of entries in list */
    uint16 Entries;
@@ -102,7 +67,7 @@ int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
 int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
 int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
 int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
-int ec_readPDOmapCA(uint16 Slave, int *Osize, int *Isize);
+int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
 int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
 int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
 int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
@@ -117,7 +82,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
 int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
 int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
 int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
-int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
+int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize);
 int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
 int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
 int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);

diff --git a/include/ethercat_soem/ethercatconfig.h b/include/ethercat_soem/ethercatconfig.h
@@ -1,46 +1,11 @@
 /*
- * Simple Open EtherCAT Master Library 
- *
- * File    : ethercatconfig.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
- *
- * SOEM is free software; you can redistribute it and/or modify it under
- * the terms of the GNU General Public License version 2 as published by the Free
- * Software Foundation.
- *
- * SOEM 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 General Public License
- * for more details.
- *
- * As a special exception, if other files instantiate templates or use macros
- * or inline functions from this file, or you compile this file and link it
- * with other works to produce a work based on this file, this file does not
- * by itself cause the resulting work to be covered by the GNU General Public
- * License. However the source code for this file must still be made available
- * in accordance with section (3) of the GNU General Public License.
- *
- * This exception does not invalidate any other reasons why a work based on
- * this file might be covered by the GNU General Public License.
- *
- * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
- * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
- * the sole purpose of creating, using and/or selling or otherwise distributing
- * an EtherCAT network master provided that an EtherCAT Master License is obtained
- * from Beckhoff Automation GmbH.
- *
- * In case you did not receive a copy of the EtherCAT Master License along with
- * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
- * (www.beckhoff.com).
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatconfig.c 
+ * Headerfile for ethercatconfig.c
  */
 
 #ifndef _ethercatconfig_
@@ -57,14 +22,18 @@ extern "C"
 #ifdef EC_VER1
 int ec_config_init(uint8 usetable);
 int ec_config_map(void *pIOmap);
+int ec_config_overlap_map(void *pIOmap);
 int ec_config_map_group(void *pIOmap, uint8 group);
+int ec_config_overlap_map_group(void *pIOmap, uint8 group);
 int ec_config(uint8 usetable, void *pIOmap);
+int ec_config_overlap(uint8 usetable, void *pIOmap);
 int ec_recover_slave(uint16 slave, int timeout);
 int ec_reconfig_slave(uint16 slave, int timeout);
 #endif
 
 int ecx_config_init(ecx_contextt *context, uint8 usetable);
 int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group);
+int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 group);
 int ecx_recover_slave(ecx_contextt *context, uint16 slave, int timeout);
 int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout);
 

diff --git a/include/ethercat_soem/ethercatconfiglist.h b/include/ethercat_soem/ethercatconfiglist.h
@@ -1,41 +1,6 @@
 /*
- * Simple Open EtherCAT Master Library 
- *
- * File    : ethercatconfiglist.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
- *
- * SOEM is free software; you can redistribute it and/or modify it under
- * the terms of the GNU General Public License version 2 as published by the Free
- * Software Foundation.
- *
- * SOEM 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 General Public License
- * for more details.
- *
- * As a special exception, if other files instantiate templates or use macros
- * or inline functions from this file, or you compile this file and link it
- * with other works to produce a work based on this file, this file does not
- * by itself cause the resulting work to be covered by the GNU General Public
- * License. However the source code for this file must still be made available
- * in accordance with section (3) of the GNU General Public License.
- *
- * This exception does not invalidate any other reasons why a work based on
- * this file might be covered by the GNU General Public License.
- *
- * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
- * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
- * the sole purpose of creating, using and/or selling or otherwise distributing
- * an EtherCAT network master provided that an EtherCAT Master License is obtained
- * from Beckhoff Automation GmbH.
- *
- * In case you did not receive a copy of the EtherCAT Master License along with
- * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
- * (www.beckhoff.com).
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
  */
 
 /** \file
@@ -50,15 +15,20 @@
 #ifndef _ethercatconfiglist_
 #define _ethercatconfiglist_
 
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
 /*
-   explanation of dev:                                   
-    1: static device with no IO mapping ie EK1100        
-    2: input device no mailbox ie simple IO device       
-    3: output device no mailbox                          
-    4: input device with mailbox configuration           
-    5: output device with mailbox configuration          
-    6: input/output device no mailbox                    
-    7: input.output device with mailbox configuration           
+   explanation of dev:
+    1: static device with no IO mapping ie EK1100
+    2: input device no mailbox ie simple IO device
+    3: output device no mailbox
+    4: input device with mailbox configuration
+    5: output device with mailbox configuration
+    6: input/output device no mailbox
+    7: input.output device with mailbox configuration
 */
 #define EC_CONFIGEND 0xffffffff
 
@@ -89,4 +59,8 @@ ec_configlist_t ec_configlist[] = {
       {/*Man=*/EC_CONFIGEND,/*ID=*/0x00000000,/*Name=*/""        ,/*dtype=*/0,/*Ibits=*/ 0,/*Obits=*/ 0,/*SM2a*/     0,/*SM2f*/         0,/*SM3a*/     0,/*SM3f*/         0,/*FM0ac*/0,/*FM1ac*/0}
 };
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif
diff --git a/include/ethercat_soem/ethercatdc.h b/include/ethercat_soem/ethercatdc.h
@@ -1,46 +1,11 @@
 /*
- * Simple Open EtherCAT Master Library 
- *
- * File    : ethercatdc.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
- *
- * SOEM is free software; you can redistribute it and/or modify it under
- * the terms of the GNU General Public License version 2 as published by the Free
- * Software Foundation.
- *
- * SOEM 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 General Public License
- * for more details.
- *
- * As a special exception, if other files instantiate templates or use macros
- * or inline functions from this file, or you compile this file and link it
- * with other works to produce a work based on this file, this file does not
- * by itself cause the resulting work to be covered by the GNU General Public
- * License. However the source code for this file must still be made available
- * in accordance with section (3) of the GNU General Public License.
- *
- * This exception does not invalidate any other reasons why a work based on
- * this file might be covered by the GNU General Public License.
- *
- * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
- * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
- * the sole purpose of creating, using and/or selling or otherwise distributing
- * an EtherCAT network master provided that an EtherCAT Master License is obtained
- * from Beckhoff Automation GmbH.
- *
- * In case you did not receive a copy of the EtherCAT Master License along with
- * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
- * (www.beckhoff.com).
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatdc.c 
+ * Headerfile for ethercatdc.c
  */
 
 #ifndef _EC_ECATDC_H
@@ -53,13 +18,13 @@ extern "C"
 
 #ifdef EC_VER1
 boolean ec_configdc();
-void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift);
-void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift);
+void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift);
+void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift);
 #endif
 
 boolean ecx_configdc(ecx_contextt *context);
-void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift);
-void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift);
+void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift);
+void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift);
 
 #ifdef __cplusplus
 }