ethercattype.h File Reference

General typedefs and defines for EtherCAT. More...

#include "osal.h"

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Classes
struct	ec_errort
struct	PACKED
struct	PACKED

Macros
#define	EC_BUFSIZE   EC_MAXECATFRAME
#define	EC_CMDOFFSET   EC_ELENGTHSIZE
#define	EC_DATAGRAMFOLLOWS   (1 << 15)
#define	EC_DEFAULTRETRIES   3
#define	EC_ECATTYPE   0x1000
#define	EC_ELENGTHSIZE   sizeof(uint16)
#define	EC_ERROR   -3
#define	EC_ESTAT_BUSY   0x8000
#define	EC_ESTAT_EMASK   0x7800
#define	EC_ESTAT_NACK   0x2000
#define	EC_ESTAT_R64   0x0040
#define	EC_FIRSTDCDATAGRAM   20
#define	EC_HEADERSIZE   sizeof(ec_comt)
#define	EC_LITTLE_ENDIAN
#define	EC_LOGGROUPOFFSET   16
#define	EC_MAXBUF   16
#define	EC_MAXECATFRAME   1518
#define	EC_MAXEEPBITMAP   128
#define	EC_MAXEEPBUF   EC_MAXEEPBITMAP << 5
#define	EC_MAXLRWDATA   (EC_MAXECATFRAME - 14 - 2 - 10 - 2 - 4)
#define	EC_NOFRAME   -1
#define	EC_OTHERFRAME   -2
#define	EC_SLAVECOUNTEXCEEDED   -4
#define	EC_TIMEOUT   -5
#define	EC_TIMEOUTEEP   20000
#define	EC_TIMEOUTRET   2000
#define	EC_TIMEOUTRET3   (EC_TIMEOUTRET * 3)
#define	EC_TIMEOUTRXM   700000
#define	EC_TIMEOUTSAFE   20000
#define	EC_TIMEOUTSTATE   2000000
#define	EC_TIMEOUTTXM   20000
#define	EC_VER1
#define	EC_WKCSIZE   sizeof(uint16)
#define	ECT_SDO_PDOASSIGN   0x1c10
#define	ECT_SDO_RXPDOASSIGN   0x1c12
#define	ECT_SDO_SMCOMMTYPE   0x1c00
#define	ECT_SDO_TXPDOASSIGN   0x1c13
#define	ECT_SII_START   0x0040
#define	ETH_HEADERSIZE   sizeof(ec_etherheadert)
#define	ETH_P_ECAT   0x88A4
#define	etohl(A)   (A)
#define	etohll(A)   (A)
#define	etohs(A)   (A)
#define	get_unaligned(ptr)   ({ __typeof__(*(ptr)) __tmp; memcpy(&__tmp, (ptr), sizeof(*(ptr))); __tmp; })
#define	HI_BYTE(w)   ((w) >> 8)
#define	HI_WORD(l)   ((l) >> 16)
#define	htoel(A)   (A)
#define	htoell(A)   (A)
#define	htoes(A)   (A)
#define	LO_BYTE(w)   ((w) & 0x00ff)
#define	LO_WORD(l)   ((l) & 0xffff)
#define	MK_WORD(msb, lsb)   ((((uint16)(msb))<<8) | (lsb))
#define	put_unaligned32(val, ptr)   (memcpy((ptr), &(val), 4))
#define	put_unaligned64(val, ptr)   (memcpy((ptr), &(val), 8))
#define	SWAP(w)   ((((w)& 0xff00) >> 8) | (((w) & 0x00ff) << 8))

Typedefs
typedef uint8	ec_bufT[EC_BUFSIZE]
typedef PACKED_BEGIN struct PACKED	ec_comt
typedef PACKED_BEGIN struct PACKED	ec_etherheadert

Enumerations
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 }
enum	{   ECT_MBXT_ERR = 0x00, ECT_MBXT_AOE, ECT_MBXT_EOE, ECT_MBXT_COE,   ECT_MBXT_FOE, ECT_MBXT_SOE, ECT_MBXT_VOE = 0x0f }
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 }
enum	{   ECT_SDO_DOWN_INIT = 0x21, ECT_SDO_DOWN_EXP = 0x23, 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 }
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 }
enum	{   ECT_FOE_READ = 0x01, ECT_FOE_WRITE, ECT_FOE_DATA, ECT_FOE_ACK,   ECT_FOE_ERROR, ECT_FOE_BUSY }
enum	{   ECT_SOE_READREQ = 0x01, ECT_SOE_READRES, ECT_SOE_WRITEREQ, ECT_SOE_WRITERES,   ECT_SOE_NOTIFICATION, ECT_SOE_EMERGENCY }
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_FRXERR = 0x0308,   ECT_REG_EPUECNT = 0x030C, ECT_REG_PECNT = 0x030D, ECT_REG_PECODE = 0x030E, ECT_REG_LLCNT = 0x0310,   ECT_REG_WDCNT = 0x0442, 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 }
enum	ec_bufstate {   EC_BUF_EMPTY = 0x00, EC_BUF_ALLOC = 0x01, EC_BUF_TX = 0x02, EC_BUF_RCVD = 0x03,   EC_BUF_COMPLETE = 0x04 }
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 }
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 }
enum	ec_ecmdtype { EC_ECMD_NOP = 0x0000, EC_ECMD_READ = 0x0100, EC_ECMD_WRITE = 0x0201, EC_ECMD_RELOAD = 0x0300 }
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 }
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,   EC_ERR_TYPE_MBX_ERROR = 9, EC_ERR_TYPE_FOE_FILE_NOTFOUND = 10, EC_ERR_TYPE_EOE_INVALID_RX_DATA = 11 }
enum	ec_state {   EC_STATE_NONE = 0x00, 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 }

Detailed Description

General typedefs and defines for EtherCAT.

Defines that could need optimisation 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 timeouts need increasing. For fast systems running Xenomai and RT-net or alike the timeouts need to be shorter.

Definition in file ethercattype.h.

Macro Definition Documentation

EC_BUFSIZE

#define EC_BUFSIZE   EC_MAXECATFRAME

standard frame buffer size in bytes

Definition at line 58 of file ethercattype.h.

EC_CMDOFFSET

#define EC_CMDOFFSET   EC_ELENGTHSIZE

offset position of command in EtherCAT header

Definition at line 131 of file ethercattype.h.

EC_DATAGRAMFOLLOWS

#define EC_DATAGRAMFOLLOWS   (1 << 15)

definition of datagram follows bit in ec_comt.dlength

Definition at line 135 of file ethercattype.h.

EC_DEFAULTRETRIES

#define EC_DEFAULTRETRIES   3

default number of retries if wkc <= 0

Definition at line 82 of file ethercattype.h.

EC_ECATTYPE

#define EC_ECATTYPE   0x1000

datagram type EtherCAT

Definition at line 60 of file ethercattype.h.

EC_ELENGTHSIZE

#define EC_ELENGTHSIZE   sizeof(uint16)

size of ec_comt.elength item in EtherCAT header

Definition at line 129 of file ethercattype.h.

EC_ERROR

#define EC_ERROR   -3

return value general error

Definition at line 45 of file ethercattype.h.

EC_ESTAT_BUSY

#define EC_ESTAT_BUSY   0x8000

EEprom state machine busy flag

Definition at line 273 of file ethercattype.h.

EC_ESTAT_EMASK

#define EC_ESTAT_EMASK   0x7800

EEprom state machine error flag mask

Definition at line 275 of file ethercattype.h.

EC_ESTAT_NACK

#define EC_ESTAT_NACK   0x2000

EEprom state machine error acknowledge

Definition at line 277 of file ethercattype.h.

EC_ESTAT_R64

#define EC_ESTAT_R64   0x0040

EEprom state machine read size

Definition at line 271 of file ethercattype.h.

EC_FIRSTDCDATAGRAM

#define EC_FIRSTDCDATAGRAM   20

size of DC datagram used in first LRW frame

Definition at line 56 of file ethercattype.h.

EC_HEADERSIZE

#define EC_HEADERSIZE   sizeof(ec_comt)

EtherCAT header size

Definition at line 127 of file ethercattype.h.

EC_LITTLE_ENDIAN

#define EC_LITTLE_ENDIAN

Define little endian target by default if no endian is set

Definition at line 37 of file ethercattype.h.

EC_LOGGROUPOFFSET

#define EC_LOGGROUPOFFSET   16

default group size in 2^x

Definition at line 84 of file ethercattype.h.

EC_MAXBUF

#define EC_MAXBUF   16

number of frame buffers per channel (tx, rx1 rx2)

Definition at line 62 of file ethercattype.h.

EC_MAXECATFRAME

#define EC_MAXECATFRAME   1518

maximum EtherCAT frame length in bytes

Definition at line 51 of file ethercattype.h.

EC_MAXEEPBITMAP

#define EC_MAXEEPBITMAP   128

size of EEPROM bitmap cache

Definition at line 78 of file ethercattype.h.

EC_MAXEEPBUF

#define EC_MAXEEPBUF   EC_MAXEEPBITMAP << 5

size of EEPROM cache buffer

Definition at line 80 of file ethercattype.h.

EC_MAXLRWDATA

#define EC_MAXLRWDATA   (EC_MAXECATFRAME - 14 - 2 - 10 - 2 - 4)

maximum EtherCAT LRW frame length in bytes

Definition at line 54 of file ethercattype.h.

EC_NOFRAME

#define EC_NOFRAME   -1

return value no frame returned

Definition at line 41 of file ethercattype.h.

EC_OTHERFRAME

#define EC_OTHERFRAME   -2

return value unknown frame received

Definition at line 43 of file ethercattype.h.

EC_SLAVECOUNTEXCEEDED

#define EC_SLAVECOUNTEXCEEDED   -4

return value too many slaves

Definition at line 47 of file ethercattype.h.

EC_TIMEOUT

#define EC_TIMEOUT   -5

return value request timeout

Definition at line 49 of file ethercattype.h.

EC_TIMEOUTEEP

#define EC_TIMEOUTEEP   20000

timeout value in us for EEPROM access

Definition at line 70 of file ethercattype.h.

EC_TIMEOUTRET

#define EC_TIMEOUTRET   2000

timeout value in us for tx frame to return to rx

Definition at line 64 of file ethercattype.h.

EC_TIMEOUTRET3

#define EC_TIMEOUTRET3   (EC_TIMEOUTRET * 3)

timeout value in us for safe data transfer, max. triple retry

Definition at line 66 of file ethercattype.h.

EC_TIMEOUTRXM

#define EC_TIMEOUTRXM   700000

timeout value in us for rx mailbox cycle

Definition at line 74 of file ethercattype.h.

EC_TIMEOUTSAFE

#define EC_TIMEOUTSAFE   20000

timeout value in us for return "safe" variant (f.e. wireless)

Definition at line 68 of file ethercattype.h.

EC_TIMEOUTSTATE

#define EC_TIMEOUTSTATE   2000000

timeout value in us for check statechange

Definition at line 76 of file ethercattype.h.

EC_TIMEOUTTXM

#define EC_TIMEOUTTXM   20000

timeout value in us for tx mailbox cycle

Definition at line 72 of file ethercattype.h.

EC_VER1

#define EC_VER1

define EC_VER1 if version 1 default context and functions are needed define EC_VER2 if application uses only ecx_ functions and own context

Definition at line 31 of file ethercattype.h.

EC_WKCSIZE

#define EC_WKCSIZE   sizeof(uint16)

size of workcounter item in EtherCAT datagram

Definition at line 133 of file ethercattype.h.

ECT_SDO_PDOASSIGN

#define ECT_SDO_PDOASSIGN   0x1c10

standard SDO PDO assignment

Definition at line 452 of file ethercattype.h.

ECT_SDO_RXPDOASSIGN

#define ECT_SDO_RXPDOASSIGN   0x1c12

standard SDO RxPDO assignment

Definition at line 454 of file ethercattype.h.

ECT_SDO_SMCOMMTYPE

#define ECT_SDO_SMCOMMTYPE   0x1c00

standard SDO Sync Manager Communication Type

Definition at line 450 of file ethercattype.h.

ECT_SDO_TXPDOASSIGN

#define ECT_SDO_TXPDOASSIGN   0x1c13

standard SDO TxPDO assignment

Definition at line 456 of file ethercattype.h.

ECT_SII_START

#define ECT_SII_START   0x0040

Start address SII sections in Eeprom

Definition at line 282 of file ethercattype.h.

ETH_HEADERSIZE

#define ETH_HEADERSIZE   sizeof(ec_etherheadert)

ethernet header size

Definition at line 103 of file ethercattype.h.

ETH_P_ECAT

#define ETH_P_ECAT   0x88A4

Ethercat packet type

Definition at line 459 of file ethercattype.h.

etohl

#define etohl

(

A

)

(A)

Definition at line 537 of file ethercattype.h.

etohll

#define etohll

(

A

)

(A)

Definition at line 538 of file ethercattype.h.

etohs

#define etohs

(

A

)

(A)

Definition at line 536 of file ethercattype.h.

get_unaligned

#define get_unaligned

(

ptr

)

({ __typeof__(*(ptr)) __tmp; memcpy(&__tmp, (ptr), sizeof(*(ptr))); __tmp; })

Definition at line 522 of file ethercattype.h.

HI_BYTE

#define HI_BYTE

(

w

)

((w) >> 8)

Macro to get hi byte of a word

Definition at line 512 of file ethercattype.h.

HI_WORD

#define HI_WORD

(

l

)

((l) >> 16)

Macro to get hi word of a dword

Definition at line 520 of file ethercattype.h.

htoel

#define htoel

(

A

)

(A)

Definition at line 534 of file ethercattype.h.

htoell

#define htoell

(

A

)

(A)

Definition at line 535 of file ethercattype.h.

htoes

#define htoes

(

A

)

(A)

Definition at line 533 of file ethercattype.h.

LO_BYTE

#define LO_BYTE

(

w

)

((w) & 0x00ff)

Macro to get low byte of a word

Definition at line 514 of file ethercattype.h.

LO_WORD

#define LO_WORD

(

l

)

((l) & 0xffff)

Macro to get hi word of a dword

Definition at line 518 of file ethercattype.h.

MK_WORD

#define MK_WORD	(		msb,
			lsb
	)		((((uint16)(msb))<<8) | (lsb))

Helper macros Macro to make a word from 2 bytes

Definition at line 510 of file ethercattype.h.

put_unaligned32

#define put_unaligned32	(		val,
			ptr
	)		(memcpy((ptr), &(val), 4))

Definition at line 525 of file ethercattype.h.

put_unaligned64

#define put_unaligned64	(		val,
			ptr
	)		(memcpy((ptr), &(val), 8))

Definition at line 528 of file ethercattype.h.

SWAP

#define SWAP

(

w

)

((((w)& 0xff00) >> 8) | (((w) & 0x00ff) << 8))

Macro to swap hi and low byte of a word

Definition at line 516 of file ethercattype.h.

Typedef Documentation

ec_bufT

typedef uint8 ec_bufT[EC_BUFSIZE]

definition for frame buffers

Definition at line 87 of file ethercattype.h.

ec_comt

typedef PACKED_BEGIN struct PACKED ec_comt

EtherCAT datagram header definition

ec_etherheadert

typedef PACKED_BEGIN struct PACKED ec_etherheadert

ethernet header definition

Enumeration Type Documentation

anonymous enum

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 284 of file ethercattype.h.

anonymous enum

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 299 of file ethercattype.h.

anonymous enum

anonymous enum

Mailbox types definitions

Enumerator
ECT_MBXT_ERR	Error mailbox type
ECT_MBXT_AOE	ADS over EtherCAT mailbox type
ECT_MBXT_EOE	Ethernet over EtherCAT mailbox type
ECT_MBXT_COE	CANopen over EtherCAT mailbox type
ECT_MBXT_FOE	File over EtherCAT mailbox type
ECT_MBXT_SOE	Servo over EtherCAT mailbox type
ECT_MBXT_VOE	Vendor over EtherCAT mailbox type

Definition at line 313 of file ethercattype.h.

anonymous enum

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 332 of file ethercattype.h.

anonymous enum

anonymous enum

CoE SDO commands

Enumerator
ECT_SDO_DOWN_INIT
ECT_SDO_DOWN_EXP
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 345 of file ethercattype.h.

anonymous enum

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 357 of file ethercattype.h.

anonymous enum

anonymous enum

FoE opcodes

Enumerator
ECT_FOE_READ
ECT_FOE_WRITE
ECT_FOE_DATA
ECT_FOE_ACK
ECT_FOE_ERROR
ECT_FOE_BUSY

Definition at line 369 of file ethercattype.h.

anonymous enum

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 380 of file ethercattype.h.

anonymous enum

anonymous enum

Ethercat registers

Enumerator
ECT_REG_TYPE
ECT_REG_PORTDES
ECT_REG_ESCSUP
ECT_REG_STADR
ECT_REG_ALIAS
ECT_REG_DLCTL
ECT_REG_DLPORT
ECT_REG_DLALIAS
ECT_REG_DLSTAT
ECT_REG_ALCTL
ECT_REG_ALSTAT
ECT_REG_ALSTATCODE
ECT_REG_PDICTL
ECT_REG_IRQMASK
ECT_REG_RXERR
ECT_REG_FRXERR
ECT_REG_EPUECNT
ECT_REG_PECNT
ECT_REG_PECODE
ECT_REG_LLCNT
ECT_REG_WDCNT
ECT_REG_EEPCFG
ECT_REG_EEPCTL
ECT_REG_EEPSTAT
ECT_REG_EEPADR
ECT_REG_EEPDAT
ECT_REG_FMMU0
ECT_REG_FMMU1
ECT_REG_FMMU2
ECT_REG_FMMU3
ECT_REG_SM0
ECT_REG_SM1
ECT_REG_SM2
ECT_REG_SM3
ECT_REG_SM0STAT
ECT_REG_SM1STAT
ECT_REG_SM1ACT
ECT_REG_SM1CONTR
ECT_REG_DCTIME0
ECT_REG_DCTIME1
ECT_REG_DCTIME2
ECT_REG_DCTIME3
ECT_REG_DCSYSTIME
ECT_REG_DCSOF
ECT_REG_DCSYSOFFSET
ECT_REG_DCSYSDELAY
ECT_REG_DCSYSDIFF
ECT_REG_DCSPEEDCNT
ECT_REG_DCTIMEFILT
ECT_REG_DCCUC
ECT_REG_DCSYNCACT
ECT_REG_DCSTART0
ECT_REG_DCCYCLE0
ECT_REG_DCCYCLE1

Definition at line 391 of file ethercattype.h.

ec_bufstate

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 175 of file ethercattype.h.

ec_cmdtype

enum ec_cmdtype

Ethercat command types

Enumerator
EC_CMD_NOP	No operation
EC_CMD_APRD	Auto Increment Read
EC_CMD_APWR	Auto Increment Write
EC_CMD_APRW	Auto Increment Read Write
EC_CMD_FPRD	Configured Address Read
EC_CMD_FPWR	Configured Address Write
EC_CMD_FPRW	Configured Address Read Write
EC_CMD_BRD	Broadcast Read
EC_CMD_BWR	Broadcast Write
EC_CMD_BRW	Broadcast Read Write
EC_CMD_LRD	Logical Memory Read
EC_CMD_LWR	Logical Memory Write
EC_CMD_LRW	Logical Memory Read Write
EC_CMD_ARMW	Auto Increment Read Multiple Write
EC_CMD_FRMW	Configured Read Multiple Write Reserved

Definition at line 222 of file ethercattype.h.

ec_datatype

enum ec_datatype

Ethercat data types

Enumerator
ECT_BOOLEAN
ECT_INTEGER8
ECT_INTEGER16
ECT_INTEGER32
ECT_UNSIGNED8
ECT_UNSIGNED16
ECT_UNSIGNED32
ECT_REAL32
ECT_VISIBLE_STRING
ECT_OCTET_STRING
ECT_UNICODE_STRING
ECT_TIME_OF_DAY
ECT_TIME_DIFFERENCE
ECT_DOMAIN
ECT_INTEGER24
ECT_REAL64
ECT_INTEGER64
ECT_UNSIGNED24
ECT_UNSIGNED64
ECT_BIT1
ECT_BIT2
ECT_BIT3
ECT_BIT4
ECT_BIT5
ECT_BIT6
ECT_BIT7
ECT_BIT8

Definition at line 190 of file ethercattype.h.

ec_ecmdtype

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 258 of file ethercattype.h.

ec_err

enum ec_err

Possible error codes returned.

Enumerator
EC_ERR_OK	No error
EC_ERR_ALREADY_INITIALIZED	Library already initialized.
EC_ERR_NOT_INITIALIZED	Library not initialized.
EC_ERR_TIMEOUT	Timeout occurred during execution of the function.
EC_ERR_NO_SLAVES	No slaves were found.
EC_ERR_NOK	Function failed.

Definition at line 138 of file ethercattype.h.

ec_err_type

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
EC_ERR_TYPE_MBX_ERROR
EC_ERR_TYPE_FOE_FILE_NOTFOUND
EC_ERR_TYPE_EOE_INVALID_RX_DATA

Definition at line 462 of file ethercattype.h.

ec_state

enum ec_state

Possible EtherCAT slave states

Enumerator
EC_STATE_NONE	No valid state.
EC_STATE_INIT	Init state
EC_STATE_PRE_OP	Pre-operational.
EC_STATE_BOOT	Boot state
EC_STATE_SAFE_OP	Safe-operational.
EC_STATE_OPERATIONAL	Operational
EC_STATE_ACK	Error or ACK error
EC_STATE_ERROR

Definition at line 155 of file ethercattype.h.