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Classes
struct	PACKED

struct	PACKED

struct	PACKED

struct	PACKED

Macros
#define	EC_IDN_ATCONFIG 16

#define	EC_IDN_MDTCONFIG 24

#define	EC_SOE_ATTRIBUTE_B 0x04

#define	EC_SOE_DATASTATE_B 0x01

#define	EC_SOE_DEFAULT_B 0x80

#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_MAX_B 0x20

#define	EC_SOE_MAXMAPPING 64

#define	EC_SOE_MAXNAME 60

#define	EC_SOE_MIN_B 0x10

#define	EC_SOE_NAME_B 0x02

#define	EC_SOE_TYPE_BINARY 0x00

#define	EC_SOE_TYPE_FLOAT 0x06

#define	EC_SOE_TYPE_HEX 0x03

#define	EC_SOE_TYPE_IDN 0x05

#define	EC_SOE_TYPE_INT 0x02

#define	EC_SOE_TYPE_PARAMETER 0x07

#define	EC_SOE_TYPE_STRING 0x04

#define	EC_SOE_TYPE_UINT 0x01

#define	EC_SOE_UNIT_B 0x08

#define	EC_SOE_VALUE_B 0x40

Typedefs
typedef PACKED_BEGIN struct PACKED	ec_SoEattributet

typedef PACKED_END PACKED_BEGIN struct PACKED	ec_SoElistt

typedef PACKED_END PACKED_BEGIN struct PACKED	ec_SoEmappingt

typedef PACKED_BEGIN struct PACKED	ec_SoEnamet

Functions
int	ecx_readIDNmap (ecx_contextt context, uint16 slave, int Osize, int *Isize)

PACKED_END int	ecx_SoEread (ecx_contextt context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)

int	ecx_SoEwrite (ecx_contextt context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void p, int timeout)

Detailed Description

Headerfile for ethercatsoe.c.

Definition in file ethercatsoe.h.

Macro Definition Documentation

#define EC_IDN_ATCONFIG 16

Definition at line 67 of file ethercatsoe.h.

#define EC_IDN_MDTCONFIG 24

Definition at line 66 of file ethercatsoe.h.

#define EC_SOE_ATTRIBUTE_B 0x04

Definition at line 56 of file ethercatsoe.h.

#define EC_SOE_DATASTATE_B 0x01

Definition at line 54 of file ethercatsoe.h.

#define EC_SOE_DEFAULT_B 0x80

Definition at line 61 of file ethercatsoe.h.

#define EC_SOE_LENGTH_1 0x00

Definition at line 111 of file ethercatsoe.h.

#define EC_SOE_LENGTH_2 0x01

Definition at line 112 of file ethercatsoe.h.

#define EC_SOE_LENGTH_4 0x02

Definition at line 113 of file ethercatsoe.h.

#define EC_SOE_LENGTH_8 0x03

Definition at line 114 of file ethercatsoe.h.

#define EC_SOE_MAX_B 0x20

Definition at line 59 of file ethercatsoe.h.

#define EC_SOE_MAXMAPPING 64

Definition at line 64 of file ethercatsoe.h.

#define EC_SOE_MAXNAME 60

Definition at line 63 of file ethercatsoe.h.

#define EC_SOE_MIN_B 0x10

Definition at line 58 of file ethercatsoe.h.

#define EC_SOE_NAME_B 0x02

Definition at line 55 of file ethercatsoe.h.

#define EC_SOE_TYPE_BINARY 0x00

Definition at line 115 of file ethercatsoe.h.

#define EC_SOE_TYPE_FLOAT 0x06

Definition at line 121 of file ethercatsoe.h.

#define EC_SOE_TYPE_HEX 0x03

Definition at line 118 of file ethercatsoe.h.

#define EC_SOE_TYPE_IDN 0x05

Definition at line 120 of file ethercatsoe.h.

#define EC_SOE_TYPE_INT 0x02

Definition at line 117 of file ethercatsoe.h.

#define EC_SOE_TYPE_PARAMETER 0x07

Definition at line 122 of file ethercatsoe.h.

#define EC_SOE_TYPE_STRING 0x04

Definition at line 119 of file ethercatsoe.h.

#define EC_SOE_TYPE_UINT 0x01

Definition at line 116 of file ethercatsoe.h.

#define EC_SOE_UNIT_B 0x08

Definition at line 57 of file ethercatsoe.h.

#define EC_SOE_VALUE_B 0x40

Definition at line 60 of file ethercatsoe.h.

Typedef Documentation

typedef PACKED_BEGIN struct PACKED ec_SoEattributet

SoE attribute structure

typedef PACKED_END PACKED_BEGIN struct PACKED ec_SoElistt

SoE list structure

typedef PACKED_END PACKED_BEGIN struct PACKED ec_SoEmappingt

SoE IDN mapping structure

typedef PACKED_BEGIN struct PACKED ec_SoEnamet

SoE name structure

Function Documentation

int ecx_readIDNmap	(	ecx_contextt *	context,
		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]	context	= context struct
[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 346 of file ethercatsoe.c.

PACKED_END int ecx_SoEread	(	ecx_contextt *	context,
		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]	context	= context struct
[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 112 of file ethercatsoe.c.

int ecx_SoEwrite	(	ecx_contextt *	context,
		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]	context	= context struct
[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 234 of file ethercatsoe.c.

Classes

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation