ethercatcoe.c File Reference

CAN over EtherCAT (CoE) module. More...

#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>
#include "ethercattype.h"
#include "nicdrv.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatcoe.h"
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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  PACKED
 SDO structure, not to be confused with EcSDOserviceT. More...
struct  PACKED
 SDO structure, not to be confused with EcSDOserviceT. More...
struct  PACKED
 SDO structure, not to be confused with EcSDOserviceT. More...

Typedefs

typedef struct PACKED ec_SDOt
 SDO structure, not to be confused with EcSDOserviceT.
typedef struct PACKED ec_SDOservicet
 SDO service structure.
typedef struct PACKED ec_SMcommtypet
 SyncManager Communication Type structure for CA.
typedef struct PACKED ec_PDOassignt
 SDO assign structure for CA.
typedef struct PACKED ec_PDOdesct
 SDO description structure for CA.

Functions

void ec_SDOerror (uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode)
 Report SDO error.
int ec_SDOread (uint16 slave, uint16 index, uint8 subindex, boolean CA, int *psize, void *p, int timeout)
 CoE SDO read, blocking.
int ec_SDOwrite (uint16 Slave, uint16 Index, uint8 SubIndex, boolean CA, int psize, void *p, int Timeout)
 CoE SDO write, blocking.
int ec_RxPDO (uint16 Slave, uint16 RxPDOnumber, int psize, void *p)
 CoE RxPDO write, blocking.
int ec_TxPDO (uint16 slave, uint16 TxPDOnumber, int *psize, void *p, int timeout)
 CoE TxPDO read remote request, blocking.
int ec_readPDOassign (uint16 Slave, uint16 PDOassign)
 Read PDO assign structure.
int ec_readPDOassignCA (uint16 Slave, uint16 PDOassign)
 Read PDO assign structure in Complete Access mode.
int ec_readPDOmap (uint16 Slave, int *Osize, int *Isize)
 CoE read PDO mapping.
int ec_readPDOmapCA (uint16 Slave, int *Osize, int *Isize)
 CoE read PDO mapping in Complete Access mode (CA).
int ec_readODlist (uint16 Slave, ec_ODlistt *pODlist)
 CoE read Object Description List.
int ec_readODdescription (uint16 Item, ec_ODlistt *pODlist)
 CoE read Object Description.
int ec_readOE (uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist)
 CoE read SDO service object entry.

Detailed Description

CAN over EtherCAT (CoE) module.

SDO read / write and SDO service functions

Definition in file ethercatcoe.c.


Typedef Documentation

typedef struct PACKED ec_PDOassignt

SDO assign structure for CA.

typedef struct PACKED ec_PDOdesct

SDO description structure for CA.

typedef struct PACKED ec_SDOservicet

SDO service structure.

typedef struct PACKED ec_SDOt

SDO structure, not to be confused with EcSDOserviceT.

typedef struct PACKED ec_SMcommtypet

SyncManager Communication Type structure for CA.


Function Documentation

int ec_readODdescription ( uint16  Item,
ec_ODlistt pODlist 
)

CoE read Object Description.

Adds textual description to object indexes.

Parameters:
[in] Item = Item number in ODlist.
[in,out] pODlist = referencing Object Description list.
Returns:
Workcounter of slave response.

Definition at line 1016 of file ethercatcoe.c.

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int ec_readODlist ( uint16  Slave,
ec_ODlistt pODlist 
)

CoE read Object Description List.

Parameters:
[in] Slave = Slave number.
[out] pODlist = resulting Object Description list.
Returns:
Workcounter of slave response.

Definition at line 910 of file ethercatcoe.c.

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int ec_readOE ( uint16  Item,
ec_ODlistt pODlist,
ec_OElistt pOElist 
)

CoE read SDO service object entry.

Parameters:
[in] Item = Item in ODlist.
[in] pODlist = Object description list for reference.
[out] pOElist = resulting object entry structure.
Returns:
Workcounter of slave response.

Definition at line 1174 of file ethercatcoe.c.

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int ec_readPDOassign ( uint16  Slave,
uint16  PDOassign 
)

Read PDO assign structure.

Definition at line 640 of file ethercatcoe.c.

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int ec_readPDOassignCA ( uint16  Slave,
uint16  PDOassign 
)

Read PDO assign structure in Complete Access mode.

Definition at line 697 of file ethercatcoe.c.

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int ec_readPDOmap ( uint16  Slave,
int *  Osize,
int *  Isize 
)

CoE read PDO mapping.

CANopen has standard indexes defined for PDO mapping. This function tries to read them and collect a full input and output mapping size of designated slave.

Principal structure in slave:
1C00:00 is number of SM defined
1C00:01 SM0 type -> 1C10
1C00:02 SM1 type -> 1C11
1C00:03 SM2 type -> 1C12
1C00:04 SM4 type -> 1C13
Type 0 = unused, 1 = mailbox in, 2 = mailbox out, 3 = outputs (RxPDO), 4 = inputs (TxPDO).

1C12:00 is number of PDO's defined for SM2
1C12:01 PDO assign SDO #1 -> f.e. 1A00
1C12:02 PDO assign SDO #2 -> f.e. 1A04\

1A00:00 is number of object defined for this PDO
1A00:01 object mapping #1, f.e. 60100710 (SDO 6010 SI 07 bitlength 0x10)

Parameters:
[in] Slave = Slave number
[out] Osize = Size in bits of output mapping (rxPDO) found
[out] Isize = Size in bits of input mapping (txPDO) found
Returns:
>0 if mapping succesful.

Definition at line 762 of file ethercatcoe.c.

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int ec_readPDOmapCA ( uint16  Slave,
int *  Osize,
int *  Isize 
)

CoE read PDO mapping in Complete Access mode (CA).

CANopen has standard indexes defined for PDO mapping. This function tries to read them and collect a full input and output mapping size of designated slave. Slave has to support CA, otherwise use ec_readPDOmap().

Parameters:
[in] Slave = Slave number
[out] Osize = Size in bits of output mapping (rxPDO) found
[out] Isize = Size in bits of input mapping (txPDO) found
Returns:
>0 if mapping succesful.

Definition at line 840 of file ethercatcoe.c.

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int ec_RxPDO ( uint16  Slave,
uint16  RxPDOnumber,
int  psize,
void *  p 
)

CoE RxPDO write, blocking.

A RxPDO download request is issued.

Parameters:
[in] Slave = Slave number
[in] RxPDOnumber = Related RxPDO number
[in] psize = Size in bytes of PDO buffer.
[out] p = Pointer to PDO buffer
Returns:
Workcounter from last slave response

Definition at line 529 of file ethercatcoe.c.

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void ec_SDOerror ( uint16  Slave,
uint16  Index,
uint8  SubIdx,
int32  AbortCode 
)

Report SDO error.

Parameters:
[in] Slave = Slave number
[in] Index = Index that generated error
[in] SubIdx = Subindex that generated error
[in] AbortCode = Abortcode, see EtherCAT documentation for list

Definition at line 128 of file ethercatcoe.c.

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int ec_SDOread ( uint16  slave,
uint16  index,
uint8  subindex,
boolean  CA,
int *  psize,
void *  p,
int  timeout 
)

CoE SDO read, blocking.

Single subindex or Complete Access.

Only a "normal" upload request is issued. If the requested parameter is <= 4bytes then a "expedited" response is returned, otherwise a "normal" response. If a "normal" response is larger than the mailbox size then the response is segmented. The function will combine all segments and copy them to the parameter buffer.

Parameters:
[in] slave = Slave number
[in] index = Index to read
[in] subindex = Subindex to read, must be 0 or 1 if CA is used.
[in] CA = FALSE = single subindex. TRUE = Complete Access, all subindexes read.
[in,out] psize = Size in bytes of parameter buffer, returns bytes read from SDO.
[out] p = Pointer to parameter buffer
[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
Returns:
Workcounter from last slave response

Definition at line 179 of file ethercatcoe.c.

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int ec_SDOwrite ( uint16  Slave,
uint16  Index,
uint8  SubIndex,
boolean  CA,
int  psize,
void *  p,
int  Timeout 
)

CoE SDO write, blocking.

Single subindex or Complete Access.

Only a "normal" download request is issued. If the paramater is larger than the mailbox size then the download is segmented. The function will split the parameter data in segments and send them to the slave one by one.

Parameters:
[in] Slave = Slave number
[in] Index = Index to write
[in] SubIndex = Subindex to write, must be 0 or 1 if CA is used.
[in] CA = FALSE = single subindex. TRUE = Complete Access, all subindexes written.
[in] psize = Size in bytes of parameter buffer.
[out] p = Pointer to parameter buffer
[in] Timeout = Timeout in us, standard is EC_TIMEOUTRXM
Returns:
Workcounter from last slave response

Definition at line 377 of file ethercatcoe.c.

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int ec_TxPDO ( uint16  slave,
uint16  TxPDOnumber,
int *  psize,
void *  p,
int  timeout 
)

CoE TxPDO read remote request, blocking.

A RxPDO download request is issued.

Parameters:
[in] slave = Slave number
[in] TxPDOnumber = Related TxPDO number
[in,out] psize = Size in bytes of PDO buffer, returns bytes read from PDO.
[out] p = Pointer to PDO buffer
[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
Returns:
Workcounter from last slave response

Definition at line 573 of file ethercatcoe.c.

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