ethercattype.h File Reference
General typedefs and defines for EtherCAT. More...
#include <sys/time.h>
Go to the source code of this file.
Data Structures | |
| struct | PACKED |
| SDO structure, not to be confused with EcSDOserviceT. More... | |
| struct | PACKED |
| SDO structure, not to be confused with EcSDOserviceT. More... | |
| struct | ec_errort |
| Struct to retrieve errors. More... | |
Defines | |
| #define | EC_LITTLE_ENDIAN |
| Define Little or Big endian target. | |
| #define | TRUE 1 |
| #define | FALSE 0 |
| #define | EC_ERROR -3 |
| return value general error | |
| #define | EC_NOFRAME -1 |
| return value no frame returned | |
| #define | EC_OTHERFRAME -2 |
| return value unknown frame received | |
| #define | EC_MAXECATFRAME 1518 |
| maximum EtherCAT frame length in bytes | |
| #define | EC_MAXLRWDATA EC_MAXECATFRAME - 14 - 2 - 10 - 2 - 4 |
| maximum EtherCAT LRW frame length in bytes | |
| #define | EC_FIRSTDCDATAGRAM 20 |
| size of DC datagram used in first LRW frame | |
| #define | EC_BUFSIZE EC_MAXECATFRAME |
| standard frame buffer size in bytes | |
| #define | EC_ECATTYPE 0x1000 |
| datagram type EtherCAT | |
| #define | EC_MAXBUF 16 |
| number of frame buffers per channel (tx, rx1 rx2) | |
| #define | EC_TIMEOUTRET 500 |
| timeout value in us for tx frame to return to rx | |
| #define | EC_TIMEOUTSAFE 20000 |
| timeout value in us for return "safe" variant (f.e. | |
| #define | EC_TIMEOUTEEP 20000 |
| timeout value in us for EEPROM access | |
| #define | EC_TIMEOUTTXM 20000 |
| timeout value in us for tx mailbox cycle | |
| #define | EC_TIMEOUTRXM 700000 |
| timeout value in us for rx mailbox cycle | |
| #define | EC_TIMEOUTSTATE 2000000 |
| timeout value in us for check statechange | |
| #define | EC_MAXEEPBITMAP 128 |
| size of EEPROM bitmap cache | |
| #define | EC_MAXEEPBUF EC_MAXEEPBITMAP << 5 |
| size of EEPROM cache buffer | |
| #define | EC_DEFAULTRETRIES 3 |
| default number of retries if wkc <= 0 | |
| #define | ETH_HEADERSIZE sizeof(ec_etherheadert) |
| ethernet header size | |
| #define | EC_HEADERSIZE sizeof(ec_comt) |
| EtherCAT header size. | |
| #define | EC_ELENGTHSIZE sizeof(uint16) |
| size of ec_comt.elength item in EtherCAT header | |
| #define | EC_CMDOFFSET EC_ELENGTHSIZE |
| offset position of command in EtherCAT header | |
| #define | EC_WKCSIZE sizeof(uint16) |
| size of workcounter item in EtherCAT datagram | |
| #define | EC_DATAGRAMFOLLOWS (1 << 15) |
| definition of datagram follows bit in ec_comt.dlength | |
| #define | EC_ESTAT_R64 0x0040 |
| EEprom state machine read size. | |
| #define | EC_ESTAT_BUSY 0x8000 |
| EEprom state machine busy flag. | |
| #define | EC_ESTAT_EMASK 0x7800 |
| EEprom state machine error flag mask. | |
| #define | EC_ESTAT_NACK 0x2000 |
| EEprom state machine error acknowledge. | |
| #define | ECT_SII_START 0x0040 |
| Start address SII sections in Eeprom. | |
| #define | ECT_SDO_SMCOMMTYPE 0x1c00 |
| standard SDO Sync Manager Communication Type | |
| #define | ECT_SDO_PDOASSIGN 0x1c10 |
| standard SDO PDO assignment | |
| #define | ECT_SDO_RXPDOASSIGN 0x1c12 |
| standard SDO RxPDO assignment | |
| #define | ECT_SDO_TXPDOASSIGN 0x1c13 |
| standard SDO TxPDO assignment | |
| #define | ETH_P_ECAT 0x88A4 |
| Ethercat packet type. | |
| #define | MK_WORD(msb, lsb) ((((uint16)(msb))<<8) | (lsb)) |
| Helper macros. | |
| #define | HI_BYTE(w) ((w) >> 8) |
| Macro to get hi byte of a word. | |
| #define | LO_BYTE(w) ((w) & 0x00ff) |
| Macro to get low byte of a word. | |
| #define | SWAP(w) ((((w)& 0xff00) >> 8) | (((w) & 0x00ff) << 8)) |
| Macro to swap hi and low byte of a word. | |
| #define | LO_WORD(l) ((l) & 0xffff) |
| Macro to get hi word of a dword. | |
| #define | HI_WORD(l) ((l) >> 16) |
| Macro to get hi word of a dword. | |
| #define | get_unaligned(ptr) ({ __typeof__(*(ptr)) __tmp; memcpy(&__tmp, (ptr), sizeof(*(ptr))); __tmp; }) |
| #define | put_unaligned32(val, ptr) |
| #define | put_unaligned64(val, ptr) |
Typedefs | |
| typedef signed char | int8 |
| typedef signed short | int16 |
| typedef signed int | int32 |
| typedef unsigned char | uint8 |
| typedef unsigned short | uint16 |
| typedef unsigned int | uint32 |
| typedef signed long long | int64 |
| typedef unsigned long long | uint64 |
| typedef uint8 | ec_bufT [EC_BUFSIZE] |
| definition for frame buffers | |
| typedef struct PACKED | ec_etherheadert |
| ethernet header definition | |
| typedef struct PACKED | ec_comt |
| EtherCAT datagram header definition. | |
Enumerations | |
| enum | ec_err { EC_ERR_OK = 0, EC_ERR_ALREADY_INITIALIZED, EC_ERR_NOT_INITIALIZED, EC_ERR_TIMEOUT, EC_ERR_NO_SLAVES, EC_ERR_NOK } |
Possible error codes returned. More... | |
| enum | ec_state { EC_STATE_INIT = 0x01, EC_STATE_PRE_OP = 0x02, EC_STATE_BOOT = 0x03, EC_STATE_SAFE_OP = 0x04, EC_STATE_OPERATIONAL = 0x08, EC_STATE_ACK = 0x10, EC_STATE_ERROR = 0x10 } |
Possible EtherCAT slave states. More... | |
| enum | ec_bufstate { EC_BUF_EMPTY = 0x00, EC_BUF_ALLOC = 0x01, EC_BUF_TX = 0x02, EC_BUF_RCVD = 0x03, EC_BUF_COMPLETE = 0x04 } |
Possible buffer states. More... | |
| enum | ec_datatype { ECT_BOOLEAN = 0x0001, ECT_INTEGER8 = 0x0002, ECT_INTEGER16 = 0x0003, ECT_INTEGER32 = 0x0004, ECT_UNSIGNED8 = 0x0005, ECT_UNSIGNED16 = 0x0006, ECT_UNSIGNED32 = 0x0007, ECT_REAL32 = 0x0008, ECT_VISIBLE_STRING = 0x0009, ECT_OCTET_STRING = 0x000A, ECT_UNICODE_STRING = 0x000B, ECT_TIME_OF_DAY = 0x000C, ECT_TIME_DIFFERENCE = 0x000D, ECT_DOMAIN = 0x000F, ECT_INTEGER24 = 0x0010, ECT_REAL64 = 0x0011, ECT_INTEGER64 = 0x0015, ECT_UNSIGNED24 = 0x0016, ECT_UNSIGNED64 = 0x001B, ECT_BIT1 = 0x0030, ECT_BIT2 = 0x0031, ECT_BIT3 = 0x0032, ECT_BIT4 = 0x0033, ECT_BIT5 = 0x0034, ECT_BIT6 = 0x0035, ECT_BIT7 = 0x0036, ECT_BIT8 = 0x0037 } |
Ethercat data types. More... | |
| enum | ec_cmdtype { EC_CMD_NOP = 0x00, EC_CMD_APRD, EC_CMD_APWR, EC_CMD_APRW, EC_CMD_FPRD, EC_CMD_FPWR, EC_CMD_FPRW, EC_CMD_BRD, EC_CMD_BWR, EC_CMD_BRW, EC_CMD_LRD, EC_CMD_LWR, EC_CMD_LRW, EC_CMD_ARMW, EC_CMD_FRMW } |
Ethercat command types. More... | |
| enum | ec_ecmdtype { EC_ECMD_NOP = 0x0000, EC_ECMD_READ = 0x0100, EC_ECMD_WRITE = 0x0201, EC_ECMD_RELOAD = 0x0300 } |
Ethercat EEprom command types. More... | |
| enum | { ECT_SII_STRING = 10, ECT_SII_GENERAL = 30, ECT_SII_FMMU = 40, ECT_SII_SM = 41, ECT_SII_PDO = 50 } |
| enum | { ECT_SII_MANUF = 0x0008, ECT_SII_ID = 0x000a, ECT_SII_REV = 0x000c, ECT_SII_BOOTRXMBX = 0x0014, ECT_SII_BOOTTXMBX = 0x0016, ECT_SII_MBXSIZE = 0x0019, ECT_SII_TXMBXADR = 0x001a, ECT_SII_RXMBXADR = 0x0018, ECT_SII_MBXPROTO = 0x001c } |
Item offsets in SII general section. More... | |
| enum | { ECT_MBXT_ERR = 0x00, ECT_MBXT_AOE, ECT_MBXT_EOE, ECT_MBXT_COE, ECT_MBXT_FOE, ECT_MBXT_SOE, ECT_MBXT_VOE = 0x0f } |
Mailbox types definitions. More... | |
| enum | { ECT_COES_EMERGENCY = 0x01, ECT_COES_SDOREQ, ECT_COES_SDORES, ECT_COES_TXPDO, ECT_COES_RXPDO, ECT_COES_TXPDO_RR, ECT_COES_RXPDO_RR, ECT_COES_SDOINFO } |
CoE mailbox types. More... | |
| enum | { ECT_SDO_DOWN_INIT = 0x21, ECT_SDO_DOWN_INIT_CA = 0x31, ECT_SDO_UP_REQ = 0x40, ECT_SDO_UP_REQ_CA = 0x50, ECT_SDO_SEG_UP_REQ = 0x60, ECT_SDO_ABORT = 0x80 } |
CoE SDO commands. More... | |
| enum | { ECT_GET_ODLIST_REQ = 0x01, ECT_GET_ODLIST_RES = 0x02, ECT_GET_OD_REQ = 0x03, ECT_GET_OD_RES = 0x04, ECT_GET_OE_REQ = 0x05, ECT_GET_OE_RES = 0x06, ECT_SDOINFO_ERROR = 0x07 } |
CoE Object Description commands. More... | |
| enum | { ECT_FOE_READ = 0x01, ECT_FOE_WRITE, ECT_FOE_DATA, ECT_FOE_ACK, ECT_FOE_ERROR, ECT_FOE_BUSY } |
FoE opcodes. More... | |
| enum | { ECT_SOE_READREQ = 0x01, ECT_SOE_READRES, ECT_SOE_WRITEREQ, ECT_SOE_WRITERES, ECT_SOE_NOTIFICATION, ECT_SOE_EMERGENCY } |
SoE opcodes. More... | |
| enum | { ECT_REG_TYPE = 0x0000, ECT_REG_PORTDES = 0x0007, ECT_REG_ESCSUP = 0x0008, ECT_REG_STADR = 0x0010, ECT_REG_ALIAS = 0x0012, ECT_REG_DLCTL = 0x0100, ECT_REG_DLPORT = 0x0101, ECT_REG_DLALIAS = 0x0103, ECT_REG_DLSTAT = 0x0110, ECT_REG_ALCTL = 0x0120, ECT_REG_ALSTAT = 0x0130, ECT_REG_ALSTATCODE = 0x0134, ECT_REG_PDICTL = 0x0140, ECT_REG_IRQMASK = 0x0200, ECT_REG_RXERR = 0x0300, ECT_REG_EEPCFG = 0x0500, ECT_REG_EEPCTL = 0x0502, ECT_REG_EEPSTAT = 0x0502, ECT_REG_EEPADR = 0x0504, ECT_REG_EEPDAT = 0x0508, ECT_REG_FMMU0 = 0x0600, ECT_REG_FMMU1 = ECT_REG_FMMU0 + 0x10, ECT_REG_FMMU2 = ECT_REG_FMMU1 + 0x10, ECT_REG_FMMU3 = ECT_REG_FMMU2 + 0x10, ECT_REG_SM0 = 0x0800, ECT_REG_SM1 = ECT_REG_SM0 + 0x08, ECT_REG_SM2 = ECT_REG_SM1 + 0x08, ECT_REG_SM3 = ECT_REG_SM2 + 0x08, ECT_REG_SM0STAT = ECT_REG_SM0 + 0x05, ECT_REG_SM1STAT = ECT_REG_SM1 + 0x05, ECT_REG_SM1ACT = ECT_REG_SM1 + 0x06, ECT_REG_SM1CONTR = ECT_REG_SM1 + 0x07, ECT_REG_DCTIME0 = 0x0900, ECT_REG_DCTIME1 = 0x0904, ECT_REG_DCTIME2 = 0x0908, ECT_REG_DCTIME3 = 0x090C, ECT_REG_DCSYSTIME = 0x0910, ECT_REG_DCSOF = 0x0918, ECT_REG_DCSYSOFFSET = 0x0920, ECT_REG_DCSYSDELAY = 0x0928, ECT_REG_DCSYSDIFF = 0x092C, ECT_REG_DCSPEEDCNT = 0x0930, ECT_REG_DCTIMEFILT = 0x0934, ECT_REG_DCCUC = 0x0980, ECT_REG_DCSYNCACT = 0x0981, ECT_REG_DCSTART0 = 0x0990, ECT_REG_DCCYCLE0 = 0x09A0, ECT_REG_DCCYCLE1 = 0x09A4 } |
Ethercat registers. More... | |
| enum | ec_err_type { EC_ERR_TYPE_SDO_ERROR = 0, EC_ERR_TYPE_EMERGENCY = 1, EC_ERR_TYPE_PACKET_ERROR = 3, EC_ERR_TYPE_SDOINFO_ERROR = 4, EC_ERR_TYPE_FOE_ERROR = 5, EC_ERR_TYPE_FOE_BUF2SMALL = 6, EC_ERR_TYPE_FOE_PACKETNUMBER = 7, EC_ERR_TYPE_SOE_ERROR = 8 } |
Error types. More... | |
Functions | |
| __attribute__ ((__packed__)) typedef unsigned char boolean | |
| max. | |
Detailed Description
General typedefs and defines for EtherCAT.
Defines that could need optimalisation for specific applications are the EC_TIMEOUTxxx. Assumptions for the standard settings are a standard linux PC or laptop and a wired connection to maximal 100 slaves. For use with wireless connections or lots of slaves the timouts need increasing. For fast systems running Xenomai and RT-net or alike the timeouts need to be shorter.
Definition in file ethercattype.h.
Define Documentation
| #define EC_BUFSIZE EC_MAXECATFRAME |
standard frame buffer size in bytes
Definition at line 93 of file ethercattype.h.
| #define EC_CMDOFFSET EC_ELENGTHSIZE |
offset position of command in EtherCAT header
Definition at line 159 of file ethercattype.h.
| #define EC_DATAGRAMFOLLOWS (1 << 15) |
definition of datagram follows bit in ec_comt.dlength
Definition at line 163 of file ethercattype.h.
| #define EC_DEFAULTRETRIES 3 |
default number of retries if wkc <= 0
Definition at line 116 of file ethercattype.h.
| #define EC_ECATTYPE 0x1000 |
datagram type EtherCAT
Definition at line 95 of file ethercattype.h.
| #define EC_ELENGTHSIZE sizeof(uint16) |
size of ec_comt.elength item in EtherCAT header
Definition at line 157 of file ethercattype.h.
| #define EC_ERROR -3 |
return value general error
Definition at line 79 of file ethercattype.h.
| #define EC_ESTAT_BUSY 0x8000 |
EEprom state machine busy flag.
Definition at line 299 of file ethercattype.h.
| #define EC_ESTAT_EMASK 0x7800 |
EEprom state machine error flag mask.
Definition at line 301 of file ethercattype.h.
| #define EC_ESTAT_NACK 0x2000 |
EEprom state machine error acknowledge.
Definition at line 303 of file ethercattype.h.
| #define EC_ESTAT_R64 0x0040 |
EEprom state machine read size.
Definition at line 297 of file ethercattype.h.
| #define EC_FIRSTDCDATAGRAM 20 |
size of DC datagram used in first LRW frame
Definition at line 91 of file ethercattype.h.
| #define EC_HEADERSIZE sizeof(ec_comt) |
EtherCAT header size.
Definition at line 155 of file ethercattype.h.
| #define EC_LITTLE_ENDIAN |
Define Little or Big endian target.
Definition at line 57 of file ethercattype.h.
| #define EC_MAXBUF 16 |
number of frame buffers per channel (tx, rx1 rx2)
Definition at line 97 of file ethercattype.h.
| #define EC_MAXECATFRAME 1518 |
maximum EtherCAT frame length in bytes
Definition at line 85 of file ethercattype.h.
| #define EC_MAXEEPBITMAP 128 |
size of EEPROM bitmap cache
Definition at line 112 of file ethercattype.h.
| #define EC_MAXEEPBUF EC_MAXEEPBITMAP << 5 |
size of EEPROM cache buffer
Definition at line 114 of file ethercattype.h.
| #define EC_MAXLRWDATA EC_MAXECATFRAME - 14 - 2 - 10 - 2 - 4 |
maximum EtherCAT LRW frame length in bytes
Definition at line 88 of file ethercattype.h.
| #define EC_NOFRAME -1 |
return value no frame returned
Definition at line 81 of file ethercattype.h.
| #define EC_OTHERFRAME -2 |
return value unknown frame received
Definition at line 83 of file ethercattype.h.
| #define EC_TIMEOUTEEP 20000 |
timeout value in us for EEPROM access
Definition at line 104 of file ethercattype.h.
| #define EC_TIMEOUTRET 500 |
timeout value in us for tx frame to return to rx
Definition at line 99 of file ethercattype.h.
| #define EC_TIMEOUTRXM 700000 |
timeout value in us for rx mailbox cycle
Definition at line 108 of file ethercattype.h.
| #define EC_TIMEOUTSAFE 20000 |
timeout value in us for return "safe" variant (f.e.
wireless)
Definition at line 102 of file ethercattype.h.
| #define EC_TIMEOUTSTATE 2000000 |
timeout value in us for check statechange
Definition at line 110 of file ethercattype.h.
| #define EC_TIMEOUTTXM 20000 |
timeout value in us for tx mailbox cycle
Definition at line 106 of file ethercattype.h.
| #define EC_WKCSIZE sizeof(uint16) |
size of workcounter item in EtherCAT datagram
Definition at line 161 of file ethercattype.h.
| #define ECT_SDO_PDOASSIGN 0x1c10 |
standard SDO PDO assignment
Definition at line 472 of file ethercattype.h.
| #define ECT_SDO_RXPDOASSIGN 0x1c12 |
standard SDO RxPDO assignment
Definition at line 474 of file ethercattype.h.
| #define ECT_SDO_SMCOMMTYPE 0x1c00 |
standard SDO Sync Manager Communication Type
Definition at line 470 of file ethercattype.h.
| #define ECT_SDO_TXPDOASSIGN 0x1c13 |
standard SDO TxPDO assignment
Definition at line 476 of file ethercattype.h.
| #define ECT_SII_START 0x0040 |
Start address SII sections in Eeprom.
Definition at line 308 of file ethercattype.h.
| #define ETH_HEADERSIZE sizeof(ec_etherheadert) |
ethernet header size
Definition at line 133 of file ethercattype.h.
| #define ETH_P_ECAT 0x88A4 |
Ethercat packet type.
Definition at line 479 of file ethercattype.h.
| #define FALSE 0 |
Definition at line 68 of file ethercattype.h.
| #define get_unaligned | ( | ptr | ) | ({ __typeof__(*(ptr)) __tmp; memcpy(&__tmp, (ptr), sizeof(*(ptr))); __tmp; }) |
Definition at line 539 of file ethercattype.h.
| #define HI_BYTE | ( | w | ) | ((w) >> 8) |
Macro to get hi byte of a word.
Definition at line 529 of file ethercattype.h.
| #define HI_WORD | ( | l | ) | ((l) >> 16) |
Macro to get hi word of a dword.
Definition at line 537 of file ethercattype.h.
| #define LO_BYTE | ( | w | ) | ((w) & 0x00ff) |
Macro to get low byte of a word.
Definition at line 531 of file ethercattype.h.
| #define LO_WORD | ( | l | ) | ((l) & 0xffff) |
Macro to get hi word of a dword.
Definition at line 535 of file ethercattype.h.
| #define MK_WORD | ( | msb, | |||
| lsb | ) | ((((uint16)(msb))<<8) | (lsb)) |
| #define put_unaligned32 | ( | val, | |||
| ptr | ) |
({ memcpy((ptr), &(val), 4); \
(void)0; })
Definition at line 542 of file ethercattype.h.
| #define put_unaligned64 | ( | val, | |||
| ptr | ) |
({ memcpy((ptr), &(val), 8); \
(void)0; })
Definition at line 546 of file ethercattype.h.
| #define SWAP | ( | w | ) | ((((w)& 0xff00) >> 8) | (((w) & 0x00ff) << 8)) |
Macro to swap hi and low byte of a word.
Definition at line 533 of file ethercattype.h.
| #define TRUE 1 |
Definition at line 67 of file ethercattype.h.
Typedef Documentation
definition for frame buffers
Definition at line 119 of file ethercattype.h.
| typedef struct PACKED ec_etherheadert |
ethernet header definition
| typedef signed short int16 |
Definition at line 70 of file ethercattype.h.
| typedef signed int int32 |
Definition at line 71 of file ethercattype.h.
| typedef signed long long int64 |
Definition at line 75 of file ethercattype.h.
| typedef signed char int8 |
Definition at line 69 of file ethercattype.h.
| typedef unsigned short uint16 |
Definition at line 73 of file ethercattype.h.
| typedef unsigned int uint32 |
Definition at line 74 of file ethercattype.h.
| typedef unsigned long long uint64 |
Definition at line 76 of file ethercattype.h.
| typedef unsigned char uint8 |
Definition at line 72 of file ethercattype.h.
Enumeration Type Documentation
| anonymous enum |
- Enumerator:
ECT_SII_STRING SII category strings.
ECT_SII_GENERAL SII category general.
ECT_SII_FMMU SII category FMMU.
ECT_SII_SM SII category SM.
ECT_SII_PDO SII category PDO.
Definition at line 310 of file ethercattype.h.
| anonymous enum |
Item offsets in SII general section.
- Enumerator:
ECT_SII_MANUF ECT_SII_ID ECT_SII_REV ECT_SII_BOOTRXMBX ECT_SII_BOOTTXMBX ECT_SII_MBXSIZE ECT_SII_TXMBXADR ECT_SII_RXMBXADR ECT_SII_MBXPROTO
Definition at line 325 of file ethercattype.h.
| anonymous enum |
Mailbox types definitions.
- Enumerator:
Definition at line 340 of file ethercattype.h.
| anonymous enum |
CoE mailbox types.
- Enumerator:
ECT_COES_EMERGENCY ECT_COES_SDOREQ ECT_COES_SDORES ECT_COES_TXPDO ECT_COES_RXPDO ECT_COES_TXPDO_RR ECT_COES_RXPDO_RR ECT_COES_SDOINFO
Definition at line 359 of file ethercattype.h.
| anonymous enum |
CoE SDO commands.
- Enumerator:
ECT_SDO_DOWN_INIT ECT_SDO_DOWN_INIT_CA ECT_SDO_UP_REQ ECT_SDO_UP_REQ_CA ECT_SDO_SEG_UP_REQ ECT_SDO_ABORT
Definition at line 372 of file ethercattype.h.
| anonymous enum |
CoE Object Description commands.
- Enumerator:
ECT_GET_ODLIST_REQ ECT_GET_ODLIST_RES ECT_GET_OD_REQ ECT_GET_OD_RES ECT_GET_OE_REQ ECT_GET_OE_RES ECT_SDOINFO_ERROR
Definition at line 383 of file ethercattype.h.
| anonymous enum |
FoE opcodes.
Definition at line 395 of file ethercattype.h.
| anonymous enum |
SoE opcodes.
- Enumerator:
ECT_SOE_READREQ ECT_SOE_READRES ECT_SOE_WRITEREQ ECT_SOE_WRITERES ECT_SOE_NOTIFICATION ECT_SOE_EMERGENCY
Definition at line 406 of file ethercattype.h.
| anonymous enum |
Ethercat registers.
- Enumerator:
Definition at line 417 of file ethercattype.h.
| enum ec_bufstate |
Possible buffer states.
- Enumerator:
EC_BUF_EMPTY Empty.
EC_BUF_ALLOC Allocated, but not filled.
EC_BUF_TX Transmitted.
EC_BUF_RCVD Received, but not consumed.
EC_BUF_COMPLETE Cycle completed.
Definition at line 201 of file ethercattype.h.
| enum ec_cmdtype |
Ethercat command types.
- Enumerator:
Definition at line 248 of file ethercattype.h.
| enum ec_datatype |
Ethercat data types.
- Enumerator:
Definition at line 216 of file ethercattype.h.
| enum ec_ecmdtype |
Ethercat EEprom command types.
- Enumerator:
EC_ECMD_NOP No operation.
EC_ECMD_READ Read.
EC_ECMD_WRITE Write.
EC_ECMD_RELOAD Reload.
Definition at line 284 of file ethercattype.h.
| enum ec_err |
Possible error codes returned.
- Enumerator:
Definition at line 166 of file ethercattype.h.
| enum ec_err_type |
Error types.
- Enumerator:
EC_ERR_TYPE_SDO_ERROR EC_ERR_TYPE_EMERGENCY EC_ERR_TYPE_PACKET_ERROR EC_ERR_TYPE_SDOINFO_ERROR EC_ERR_TYPE_FOE_ERROR EC_ERR_TYPE_FOE_BUF2SMALL EC_ERR_TYPE_FOE_PACKETNUMBER EC_ERR_TYPE_SOE_ERROR
Definition at line 482 of file ethercattype.h.
| enum ec_state |
Possible EtherCAT slave states.
- Enumerator:
Definition at line 183 of file ethercattype.h.
Function Documentation
| __attribute__ | ( | (__packed__) | ) |
max.
etries in EtherCAT error list max. length of readable name in slavelist and Object Description List max. number of slaves in array max. number of groups max. number of IO segments per group max. mailbox size max. eeprom PDO entries max. SM used max. FMMU used record for FMMU
Definition at line 50 of file ethercatmain.h.
