ethercatsoe.h File Reference

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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...
Defines
#define	EC_SOE_DATASTATE_B 0x01
#define	EC_SOE_NAME_B 0x02
#define	EC_SOE_ATTRIBUTE_B 0x04
#define	EC_SOE_UNIT_B 0x08
#define	EC_SOE_MIN_B 0x10
#define	EC_SOE_MAX_B 0x20
#define	EC_SOE_VALUE_B 0x40
#define	EC_SOE_DEFAULT_B 0x80
#define	EC_SOE_MAXNAME 60
#define	EC_SOE_MAXMAPPING 64
#define	EC_IDN_MDTCONFIG 24
#define	EC_IDN_ATCONFIG 16
#define	EC_SOE_LENGTH_1 0x00
#define	EC_SOE_LENGTH_2 0x01
#define	EC_SOE_LENGTH_4 0x02
#define	EC_SOE_LENGTH_8 0x03
#define	EC_SOE_TYPE_BINARY 0x00
#define	EC_SOE_TYPE_UINT 0x01
#define	EC_SOE_TYPE_INT 0x02
#define	EC_SOE_TYPE_HEX 0x03
#define	EC_SOE_TYPE_STRING 0x04
#define	EC_SOE_TYPE_IDN 0x05
#define	EC_SOE_TYPE_FLOAT 0x06
#define	EC_SOE_TYPE_PARAMETER 0x07
Typedefs
typedef struct PACKED	ec_SoEnamet
	SoE name structure.
typedef struct PACKED	ec_SoElistt
	SoE list structure.
typedef struct PACKED	ec_SoEmappingt
	SoE IDN mapping structure.
typedef struct PACKED	ec_SoEattributet
	SoE attribute structure.
Functions
int	ec_SoEread (uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void p, int timeout)
	SoE read, blocking.
int	ec_SoEwrite (uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)
	SoE write, blocking.
int	ec_readIDNmap (uint16 slave, int Osize, int Isize)
	SoE read AT and MTD mapping.

Detailed Description

Headerfile for ethercatsoe.c.

Definition in file ethercatsoe.h.

Define Documentation

#define EC_IDN_ATCONFIG 16

Definition at line 62 of file ethercatsoe.h.

#define EC_IDN_MDTCONFIG 24

Definition at line 61 of file ethercatsoe.h.

#define EC_SOE_ATTRIBUTE_B 0x04

Definition at line 51 of file ethercatsoe.h.

#define EC_SOE_DATASTATE_B 0x01

Definition at line 49 of file ethercatsoe.h.

#define EC_SOE_DEFAULT_B 0x80

Definition at line 56 of file ethercatsoe.h.

#define EC_SOE_LENGTH_1 0x00

Definition at line 100 of file ethercatsoe.h.

#define EC_SOE_LENGTH_2 0x01

Definition at line 101 of file ethercatsoe.h.

#define EC_SOE_LENGTH_4 0x02

Definition at line 102 of file ethercatsoe.h.

#define EC_SOE_LENGTH_8 0x03

Definition at line 103 of file ethercatsoe.h.

#define EC_SOE_MAX_B 0x20

Definition at line 54 of file ethercatsoe.h.

#define EC_SOE_MAXMAPPING 64

Definition at line 59 of file ethercatsoe.h.

#define EC_SOE_MAXNAME 60

Definition at line 58 of file ethercatsoe.h.

#define EC_SOE_MIN_B 0x10

Definition at line 53 of file ethercatsoe.h.

#define EC_SOE_NAME_B 0x02

Definition at line 50 of file ethercatsoe.h.

#define EC_SOE_TYPE_BINARY 0x00

Definition at line 104 of file ethercatsoe.h.

#define EC_SOE_TYPE_FLOAT 0x06

Definition at line 110 of file ethercatsoe.h.

#define EC_SOE_TYPE_HEX 0x03

Definition at line 107 of file ethercatsoe.h.

#define EC_SOE_TYPE_IDN 0x05

Definition at line 109 of file ethercatsoe.h.

#define EC_SOE_TYPE_INT 0x02

Definition at line 106 of file ethercatsoe.h.

#define EC_SOE_TYPE_PARAMETER 0x07

Definition at line 111 of file ethercatsoe.h.

#define EC_SOE_TYPE_STRING 0x04

Definition at line 108 of file ethercatsoe.h.

#define EC_SOE_TYPE_UINT 0x01

Definition at line 105 of file ethercatsoe.h.

#define EC_SOE_UNIT_B 0x08

Definition at line 52 of file ethercatsoe.h.

#define EC_SOE_VALUE_B 0x40

Definition at line 55 of file ethercatsoe.h.

Typedef Documentation

typedef struct PACKED ec_SoEattributet

SoE attribute structure.

typedef struct PACKED ec_SoElistt

SoE list structure.

typedef struct PACKED ec_SoEmappingt

SoE IDN mapping structure.

typedef struct PACKED ec_SoEnamet

SoE name structure.

Function Documentation

int ec_readIDNmap	(	uint16	slave,
		int *	Osize,
		int *	Isize
	)

SoE read AT and MTD mapping.

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

Parameters:

`[in]`	Slave	= Slave number
`[out]`	Osize	= Size in bits of output mapping (MTD) found
`[out]`	Isize	= Size in bits of input mapping (AT) found

Returns:: >0 if mapping succesful.

Definition at line 343 of file ethercatsoe.c.

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int ec_SoEread	(	uint16	slave,
		uint8	driveNo,
		uint8	elementflags,
		uint16	idn,
		int *	psize,
		void *	p,
		int	timeout
	)

SoE read, blocking.

The IDN object of the selected slave and DriveNo is read. If a 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]`	driveNo	= Drive number in slave
`[in]`	elementflags	= Flags to select what properties of IDN are to be transfered.
`[in]`	idn	= IDN.
`[in,out]`	psize	= Size in bytes of parameter buffer, returns bytes read from SoE.
`[out]`	p	= Pointer to parameter buffer
`[in]`	timeout	= Timeout in us, standard is EC_TIMEOUTRXM

Returns:: Workcounter from last slave response

Definition at line 111 of file ethercatsoe.c.

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int ec_SoEwrite	(	uint16	slave,
		uint8	driveNo,
		uint8	elementflags,
		uint16	idn,
		int	psize,
		void *	p,
		int	timeout
	)

SoE write, blocking.

The IDN object of the selected slave and DriveNo is written. If a response is larger than the mailbox size then the response is segmented.

Parameters:

`[in]`	slave	= Slave number
`[in]`	driveNo	= Drive number in slave
`[in]`	elementflags	= Flags to select what properties of IDN are to be transfered.
`[in]`	idn	= IDN.
`[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 232 of file ethercatsoe.c.

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ethercatsoe.h File Reference

Data Structures

Defines

Typedefs

Functions

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation