General typedefs and defines for EtherCAT. More...

#include "osal.h"

Include dependency graph for ethercattype.h:

This graph shows which files directly or indirectly include this file:

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

#define EC_BUFSIZE EC_MAXECATFRAME

standard frame buffer size in bytes

Definition at line 84 of file ethercattype.h.

#define EC_CMDOFFSET EC_ELENGTHSIZE

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 EC_LITTLE_ENDIAN

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

typedef uint8 ec_bufT[EC_BUFSIZE]

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.

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 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.

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 212 of file ethercattype.h.

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 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.

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

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.

Classes

Defines

Typedefs

Enumerations

Detailed Description

Define Documentation

Typedef Documentation

Enumeration Type Documentation