CAN over EtherCAT (CoE) module. More...
#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercattype.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatcoe.h"
Go to the source code of this file.
Classes | |
struct | PACKED |
struct | PACKED |
Typedefs | |
typedef PACKED_END PACKED_BEGIN struct PACKED | ec_SDOservicet |
typedef PACKED_BEGIN struct PACKED | ec_SDOt |
Functions | |
int | ecx_readODdescription (ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist) |
int | ecx_readODlist (ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist) |
int | ecx_readOE (ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist) |
int | ecx_readOEsingle (ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist) |
int | ecx_readPDOassign (ecx_contextt *context, uint16 Slave, uint16 PDOassign) |
int | ecx_readPDOassignCA (ecx_contextt *context, uint16 Slave, uint16 PDOassign) |
int | ecx_readPDOmap (ecx_contextt *context, uint16 Slave, int *Osize, int *Isize) |
int | ecx_readPDOmapCA (ecx_contextt *context, uint16 Slave, int *Osize, int *Isize) |
int | ecx_RxPDO (ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber, int psize, void *p) |
PACKED_END void | ecx_SDOerror (ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode) |
static void | ecx_SDOinfoerror (ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode) |
int | ecx_SDOread (ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex, boolean CA, int *psize, void *p, int timeout) |
int | ecx_SDOwrite (ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex, boolean CA, int psize, void *p, int Timeout) |
int | ecx_TxPDO (ecx_contextt *context, uint16 slave, uint16 TxPDOnumber, int *psize, void *p, int timeout) |
CAN over EtherCAT (CoE) module.
SDO read / write and SDO service functions
Definition in file ethercatcoe.c.
typedef PACKED_END PACKED_BEGIN struct PACKED ec_SDOservicet |
SDO service structure
int ecx_readODdescription | ( | ecx_contextt * | context, |
uint16 | Item, | ||
ec_ODlistt * | pODlist | ||
) |
CoE read Object Description. Adds textual description to object indexes.
[in] | context | = context struct |
[in] | Item | = Item number in ODlist. |
[in,out] | pODlist | = referencing Object Description list. |
Definition at line 1146 of file ethercatcoe.c.
int ecx_readODlist | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
ec_ODlistt * | pODlist | ||
) |
CoE read Object Description List.
[in] | context | = context struct |
[in] | Slave | = Slave number. |
[out] | pODlist | = resulting Object Description list. |
Definition at line 1027 of file ethercatcoe.c.
int ecx_readOE | ( | ecx_contextt * | context, |
uint16 | Item, | ||
ec_ODlistt * | pODlist, | ||
ec_OElistt * | pOElist | ||
) |
CoE read SDO service object entry.
[in] | context | = context struct |
[in] | Item | = Item in ODlist. |
[in] | pODlist | = Object description list for reference. |
[out] | pOElist | = resulting object entry structure. |
Definition at line 1322 of file ethercatcoe.c.
int ecx_readOEsingle | ( | ecx_contextt * | context, |
uint16 | Item, | ||
uint8 | SubI, | ||
ec_ODlistt * | pODlist, | ||
ec_OElistt * | pOElist | ||
) |
CoE read SDO service object entry, single subindex. Used in ec_readOE().
[in] | context | = context struct |
[in] | Item | = Item in ODlist. |
[in] | SubI | = Subindex of item in ODlist. |
[in] | pODlist | = Object description list for reference. |
[out] | pOElist | = resulting object entry structure. |
Definition at line 1232 of file ethercatcoe.c.
int ecx_readPDOassign | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
uint16 | PDOassign | ||
) |
Read PDO assign structure
[in] | context | = context struct |
[in] | Slave | = Slave number |
[in] | PDOassign | = PDO assign object |
Definition at line 708 of file ethercatcoe.c.
int ecx_readPDOassignCA | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
uint16 | PDOassign | ||
) |
Read PDO assign structure in Complete Access mode
[in] | context | = context struct |
[in] | Slave | = Slave number |
[in] | PDOassign | = PDO assign object |
Definition at line 772 of file ethercatcoe.c.
int ecx_readPDOmap | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
int * | Osize, | ||
int * | Isize | ||
) |
CoE read PDO mapping.
CANopen has standard indexes defined for PDO mapping. This function tries to read them and collect a full input and output mapping size of designated slave.
Principal structure in slave:
1C00:00 is number of SM defined
1C00:01 SM0 type -> 1C10
1C00:02 SM1 type -> 1C11
1C00:03 SM2 type -> 1C12
1C00:04 SM4 type -> 1C13
Type 0 = unused, 1 = mailbox in, 2 = mailbox out, 3 = outputs (RxPDO), 4 = inputs (TxPDO).
1C12:00 is number of PDO's defined for SM2
1C12:01 PDO assign SDO #1 -> f.e. 1A00
1C12:02 PDO assign SDO #2 -> f.e. 1A04\
1A00:00 is number of object defined for this PDO
1A00:01 object mapping #1, f.e. 60100710 (SDO 6010 SI 07 bitlength 0x10)
[in] | context | = context struct |
[in] | Slave | = Slave number |
[out] | Osize | = Size in bits of output mapping (rxPDO) found |
[out] | Isize | = Size in bits of input mapping (txPDO) found |
Definition at line 839 of file ethercatcoe.c.
int ecx_readPDOmapCA | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
int * | Osize, | ||
int * | Isize | ||
) |
CoE read PDO mapping in Complete Access mode (CA).
CANopen has standard indexes defined for PDO mapping. This function tries to read them and collect a full input and output mapping size of designated slave. Slave has to support CA, otherwise use ec_readPDOmap().
[in] | context | = context struct |
[in] | Slave | = Slave number |
[out] | Osize | = Size in bits of output mapping (rxPDO) found |
[out] | Isize | = Size in bits of input mapping (txPDO) found |
Definition at line 940 of file ethercatcoe.c.
int ecx_RxPDO | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
uint16 | RxPDOnumber, | ||
int | psize, | ||
void * | p | ||
) |
CoE RxPDO write, blocking.
A RxPDO download request is issued.
[in] | context | = context struct |
[in] | Slave | = Slave number |
[in] | RxPDOnumber | = Related RxPDO number |
[in] | psize | = Size in bytes of PDO buffer. |
[out] | p | = Pointer to PDO buffer |
Definition at line 585 of file ethercatcoe.c.
PACKED_END void ecx_SDOerror | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
uint16 | Index, | ||
uint8 | SubIdx, | ||
int32 | AbortCode | ||
) |
Report SDO error.
[in] | context | = context struct |
[in] | Slave | = Slave number |
[in] | Index | = Index that generated error |
[in] | SubIdx | = Subindex that generated error |
[in] | AbortCode | = Abortcode, see EtherCAT documentation for list |
Definition at line 101 of file ethercatcoe.c.
|
static |
Report SDO info error
[in] | context | = context struct |
[in] | Slave | = Slave number |
[in] | Index | = Index that generated error |
[in] | SubIdx | = Subindex that generated error |
[in] | AbortCode | = Abortcode, see EtherCAT documentation for list |
Definition at line 123 of file ethercatcoe.c.
int ecx_SDOread | ( | ecx_contextt * | context, |
uint16 | slave, | ||
uint16 | index, | ||
uint8 | subindex, | ||
boolean | CA, | ||
int * | psize, | ||
void * | p, | ||
int | timeout | ||
) |
CoE SDO read, blocking. Single subindex or Complete Access.
Only a "normal" upload request is issued. If the requested parameter is <= 4bytes then a "expedited" response is returned, otherwise a "normal" response. If a "normal" 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.
[in] | context | = context struct |
[in] | slave | = Slave number |
[in] | index | = Index to read |
[in] | subindex | = Subindex to read, must be 0 or 1 if CA is used. |
[in] | CA | = FALSE = single subindex. TRUE = Complete Access, all subindexes read. |
[in,out] | psize | = Size in bytes of parameter buffer, returns bytes read from SDO. |
[out] | p | = Pointer to parameter buffer |
[in] | timeout | = Timeout in us, standard is EC_TIMEOUTRXM |
Definition at line 153 of file ethercatcoe.c.
int ecx_SDOwrite | ( | ecx_contextt * | context, |
uint16 | Slave, | ||
uint16 | Index, | ||
uint8 | SubIndex, | ||
boolean | CA, | ||
int | psize, | ||
void * | p, | ||
int | Timeout | ||
) |
CoE SDO write, blocking. Single subindex or Complete Access.
A "normal" download request is issued, unless we have small data, then a "expedited" transfer is used. If the parameter is larger than the mailbox size then the download is segmented. The function will split the parameter data in segments and send them to the slave one by one.
[in] | context | = context struct |
[in] | Slave | = Slave number |
[in] | Index | = Index to write |
[in] | SubIndex | = Subindex to write, must be 0 or 1 if CA is used. |
[in] | CA | = FALSE = single subindex. TRUE = Complete Access, all subindexes written. |
[in] | psize | = Size in bytes of parameter buffer. |
[out] | p | = Pointer to parameter buffer |
[in] | Timeout | = Timeout in us, standard is EC_TIMEOUTRXM |
Definition at line 363 of file ethercatcoe.c.
int ecx_TxPDO | ( | ecx_contextt * | context, |
uint16 | slave, | ||
uint16 | TxPDOnumber, | ||
int * | psize, | ||
void * | p, | ||
int | timeout | ||
) |
CoE TxPDO read remote request, blocking.
A RxPDO download request is issued.
[in] | context | = context struct |
[in] | slave | = Slave number |
[in] | TxPDOnumber | = Related TxPDO number |
[in,out] | psize | = Size in bytes of PDO buffer, returns bytes read from PDO. |
[out] | p | = Pointer to PDO buffer |
[in] | timeout | = Timeout in us, standard is EC_TIMEOUTRXM |
Definition at line 632 of file ethercatcoe.c.