ecat_slave.hpp

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/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2021 Veysi ADIN, UST KIST
 *
 *  This file is part of the Wrapped IgH EtherCAT master userspace program 
 * for control applications.
 *
 *  The Wrapped IgH EtherCAT master userspace program for control application
 *  in userspace is free software; you canredistribute it and/or modify it 
 * under the terms of the GNU General Public License as published by the 
 * Free Software Foundation; version 2 of the License.
 *
 *  The Wrapped IgH EtherCAT master userspace program for control application
 *  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.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with the Wrapped IgH EtherCAT master userspace program for control application. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *  Contact information: veysi.adin@kist.re.kr
 *****************************************************************************/
/******************************************************************************
 *  \file   ecat_slave.hpp
 *  \brief  Ethercat slave class implementation header file.
 * 
 *   This header file contains blueprint of EtherCAT slave's which will be 
 *   used to  communicate with EtherCAT master.
 *******************************************************************************/
#pragma once
 
#include "ecat_globals.hpp"
 
 
class EthercatSlave
{
    public:
        EthercatSlave();
        ~EthercatSlave();
    int CheckSlaveConfigState();
 
 
    const static uint32_t   kSync0_shift_ = 0;
 
    ec_slave_config_t       * slave_config_ ;
 
    ec_slave_config_state_t  slave_config_state_ ;
    
    ec_pdo_info_t          * slave_pdo_info_ ;
    ec_pdo_entry_info_t    * slave_pdo_entry_info_;
    ec_sync_info_t         * slave_sync_info_;
    ec_pdo_entry_reg_t     * slave_pdo_entry_reg_ ;
    uint8_t                * slave_pdo_domain_ ;
 
    int32_t                  motor_state_ ;
    ec_slave_info_t         slave_info_;
    OffsetPDO                 offset_ ;
    DataReceived              data_ ;
    ProfileVelocityParam    velocity_param_ ;
    ProfilePosParam         position_param_ ;
    // Slave homing parameters. 
    HomingParam             homing_param_ ;
 
};// EthercatSlave class