Classes | Defines | Typedefs | Enumerations
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

Defines

#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_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_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_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
}
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  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
}
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
}

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

standard frame buffer size in bytes

Definition at line 84 of file ethercattype.h.

offset position of command in EtherCAT header

Definition at line 155 of file ethercattype.h.

#define EC_DATAGRAMFOLLOWS   (1 << 15)

definition of datagram follows bit in ec_comt.dlength

Definition at line 159 of file ethercattype.h.

#define EC_DEFAULTRETRIES   3

default number of retries if wkc <= 0

Definition at line 108 of file ethercattype.h.

#define EC_ECATTYPE   0x1000

datagram type EtherCAT

Definition at line 86 of file ethercattype.h.

#define EC_ELENGTHSIZE   sizeof(uint16)

size of ec_comt.elength item in EtherCAT header

Definition at line 153 of file ethercattype.h.

#define EC_ERROR   -3

return value general error

Definition at line 71 of file ethercattype.h.

#define EC_ESTAT_BUSY   0x8000

EEprom state machine busy flag

Definition at line 295 of file ethercattype.h.

#define EC_ESTAT_EMASK   0x7800

EEprom state machine error flag mask

Definition at line 297 of file ethercattype.h.

#define EC_ESTAT_NACK   0x2000

EEprom state machine error acknowledge

Definition at line 299 of file ethercattype.h.

#define EC_ESTAT_R64   0x0040

EEprom state machine read size

Definition at line 293 of file ethercattype.h.

#define EC_FIRSTDCDATAGRAM   20

size of DC datagram used in first LRW frame

Definition at line 82 of file ethercattype.h.

#define EC_HEADERSIZE   sizeof(ec_comt)

EtherCAT header size

Definition at line 151 of file ethercattype.h.

Define Little or Big endian target

Definition at line 62 of file ethercattype.h.

#define EC_MAXBUF   16

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

Definition at line 88 of file ethercattype.h.

#define EC_MAXECATFRAME   1518

maximum EtherCAT frame length in bytes

Definition at line 77 of file ethercattype.h.

#define EC_MAXEEPBITMAP   128

size of EEPROM bitmap cache

Definition at line 104 of file ethercattype.h.

#define EC_MAXEEPBUF   EC_MAXEEPBITMAP << 5

size of EEPROM cache buffer

Definition at line 106 of file ethercattype.h.

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

maximum EtherCAT LRW frame length in bytes

Definition at line 80 of file ethercattype.h.

#define EC_NOFRAME   -1

return value no frame returned

Definition at line 73 of file ethercattype.h.

#define EC_OTHERFRAME   -2

return value unknown frame received

Definition at line 75 of file ethercattype.h.

#define EC_TIMEOUTEEP   20000

timeout value in us for EEPROM access

Definition at line 96 of file ethercattype.h.

#define EC_TIMEOUTRET   2000

timeout value in us for tx frame to return to rx

Definition at line 90 of file ethercattype.h.

#define EC_TIMEOUTRET3   (EC_TIMEOUTRET * 3)

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

Definition at line 92 of file ethercattype.h.

#define EC_TIMEOUTRXM   700000

timeout value in us for rx mailbox cycle

Definition at line 100 of file ethercattype.h.

#define EC_TIMEOUTSAFE   20000

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

Definition at line 94 of file ethercattype.h.

#define EC_TIMEOUTSTATE   2000000

timeout value in us for check statechange

Definition at line 102 of file ethercattype.h.

#define EC_TIMEOUTTXM   20000

timeout value in us for tx mailbox cycle

Definition at line 98 of file ethercattype.h.

#define EC_VER1

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

Definition at line 66 of file ethercattype.h.

#define EC_WKCSIZE   sizeof(uint16)

size of workcounter item in EtherCAT datagram

Definition at line 157 of file ethercattype.h.

#define ECT_SDO_PDOASSIGN   0x1c10

standard SDO PDO assignment

Definition at line 468 of file ethercattype.h.

#define ECT_SDO_RXPDOASSIGN   0x1c12

standard SDO RxPDO assignment

Definition at line 470 of file ethercattype.h.

#define ECT_SDO_SMCOMMTYPE   0x1c00

standard SDO Sync Manager Communication Type

Definition at line 466 of file ethercattype.h.

#define ECT_SDO_TXPDOASSIGN   0x1c13

standard SDO TxPDO assignment

Definition at line 472 of file ethercattype.h.

#define ECT_SII_START   0x0040

Start address SII sections in Eeprom

Definition at line 304 of file ethercattype.h.

#define ETH_HEADERSIZE   sizeof(ec_etherheadert)

ethernet header size

Definition at line 127 of file ethercattype.h.

#define ETH_P_ECAT   0x88A4

Ethercat packet type

Definition at line 475 of file ethercattype.h.

#define etohl (   A)    (A)

Definition at line 551 of file ethercattype.h.

#define etohll (   A)    (A)

Definition at line 552 of file ethercattype.h.

#define etohs (   A)    (A)

Definition at line 550 of file ethercattype.h.

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

Definition at line 536 of file ethercattype.h.

#define HI_BYTE (   w)    ((w) >> 8)

Macro to get hi byte of a word

Definition at line 526 of file ethercattype.h.

#define HI_WORD (   l)    ((l) >> 16)

Macro to get hi word of a dword

Definition at line 534 of file ethercattype.h.

#define htoel (   A)    (A)

Definition at line 548 of file ethercattype.h.

#define htoell (   A)    (A)

Definition at line 549 of file ethercattype.h.

#define htoes (   A)    (A)

Definition at line 547 of file ethercattype.h.

#define LO_BYTE (   w)    ((w) & 0x00ff)

Macro to get low byte of a word

Definition at line 528 of file ethercattype.h.

#define LO_WORD (   l)    ((l) & 0xffff)

Macro to get hi word of a dword

Definition at line 532 of file ethercattype.h.

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

Helper macros Macro to make a word from 2 bytes

Definition at line 524 of file ethercattype.h.

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

Definition at line 539 of file ethercattype.h.

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

Definition at line 542 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 530 of file ethercattype.h.


Typedef Documentation

definition for frame buffers

Definition at line 111 of file ethercattype.h.

typedef PACKED_BEGIN struct PACKED ec_comt

EtherCAT datagram header definition

typedef PACKED_BEGIN struct PACKED ec_etherheadert

ethernet header definition


Enumeration Type Documentation

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_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 413 of file ethercattype.h.

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 306 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 321 of file ethercattype.h.

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 335 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 354 of file ethercattype.h.

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 367 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 379 of file ethercattype.h.

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 391 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 402 of file ethercattype.h.

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 197 of file ethercattype.h.

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 

Broaddcast 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 Mulitple Write

EC_CMD_FRMW 

Configured Read Mulitple Write Reserved

Definition at line 244 of file ethercattype.h.

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 212 of file ethercattype.h.

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 280 of file ethercattype.h.

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 occured during execution of the function.

EC_ERR_NO_SLAVES 

No slaves were found.

EC_ERR_NOK 

Function failed.

Definition at line 162 of file ethercattype.h.

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 

Definition at line 478 of file ethercattype.h.

enum ec_state

Possible EtherCAT slave states

Enumerator:
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 179 of file ethercattype.h.



ethercat_soem
Author(s): Arthur Ketels, M.J.G. van de Molengraft
autogenerated on Wed Aug 26 2015 11:32:40