EtherCAT SSC v5.12

/*---------------------------------------------
-    SDO-Info Header
-----------------------------------------------*/

typedef struct MBX_STRUCT_PACKED_START
{
    UINT16 InfoHead; /**< \brief Opcode, Incomplete flag and 8 reserved bits*/
        #define     INFOHEAD_OPCODE_MASK            0x007F /**< \brief Opcode mask*/
        #define     INFOHEAD_OPCODE_SHIFT           0 /**< \brief Opcode shift*/
        #define     INFOHEADER_INCOMPLETE_MASK      0x0080 /**< \brief Incomplete mask*/
        #define     INFOHEADER_INCOMPLETE_SHIFT     0 /**< \brief Incomplete shift, the incomplete value "SDOINFOSERVICE_INCOMPLETE" is defined as a UINT8 => no shift required*/

    UINT16                FragmentsLeft; /**< \brief Number of fragments which will follow*/

    union MBX_STRUCT_PACKED_START
    {
        TSDOINFOLIST    List;/**< \brief List data*/
        TSDOINFOOBJ     Obj;/**< \brief Object Description data*/
        TSDOINFOENTRY   Entry;/**< \brief Entry description data*/
        TSDOINFOERROR   Error;/**< \brief Error data*/
        UINT16          Data[1];/**< \brief Unspecified data*/
    }MBX_STRUCT_PACKED_END
    Data;/**< \brief Service data*/

}MBX_STRUCT_PACKED_END
TSDOINFOHEADER;




/*---------------------------------------------
-    SOE Structures
-----------------------------------------------*/

/** \brief SoE Header*/
typedef struct MBX_STRUCT_PACKED_START
{
    union MBX_STRUCT_PACKED_START
    {
        UINT16 Word; /**< \brief Flags buffer*/
        #define    SOEFLAGS_OPCODE        0x0007 /**< \brief SoE Flags*/
                                        /**<
                                        * 0 = unused<br>
                                        * 1 = readReq<br>
                                        * 2 = readRes<br>
                                        * 3 = writeReq<br>
                                        * 4 = writeRes<br>
                                        * 5 = notification (command changed notification)*/
        #define    SOEFLAGS_INCOMPLETE    0x0008    /**< \brief more follows*/
        #define    SOEFLAGS_ERROR         0x0010    /**< \brief an error word follows*/
        #define    SOEFLAGS_DRIVENO       0x00E0    /**< \brief drive number*/

        #define    SOEFLAGS_DATASTATE     0x0100    /**< \brief Data state follows or requested*/
        #define    SOEFLAGS_NAME          0x0200    /**< \brief Name follows or requested*/
        #define    SOEFLAGS_ATTRIBUTE     0x0400    /**< \brief Attribute follows or requested*/
        #define    SOEFLAGS_UNIT          0x0800    /**< \brief Unit follows or requested*/
        #define    SOEFLAGS_MIN           0x1000    /**< \brief Min value follows or requested*/
        #define    SOEFLAGS_MAX           0x2000    /**< \brief Max value follows or requested*/
        #define    SOEFLAGS_VALUE         0x4000    /**< \brief Value follows or requested*/
        #define    SOEFLAGS_DEFAULT       0x8000    /**< \brief Default value*/
    }MBX_STRUCT_PACKED_END
    Flags;/**< \brief Flags variable*/

    UINT16        IDN_Frag;  /**< \brief IDN fragments
                              *
                              * if (InComplete==0) SERCOS IDN else FragmentsLeft
                              */
}MBX_STRUCT_PACKED_END
TSOEHEADER;