CAN over EtherCAT (CoE) module. More...

#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>
#include <youbot_driver/soem/ethercattype.h>
#include <youbot_driver/soem/nicdrv.h>
#include <youbot_driver/soem/ethercatbase.h>
#include <youbot_driver/soem/ethercatmain.h>
#include <youbot_driver/soem/ethercatcoe.h>

Include dependency graph for ethercatcoe.c:

Go to the source code of this file.

Classes
struct	PACKED
struct	PACKED
struct	PACKED
struct	PACKED
struct	PACKED
Typedefs
typedef struct PACKED	ec_PDOassignt
typedef struct PACKED	ec_PDOdesct
typedef struct PACKED	ec_SDOservicet
typedef struct PACKED	ec_SDOt
typedef struct PACKED	ec_SMcommtypet
Functions
int	ec_readODdescription (uint16 Item, ec_ODlistt *pODlist)
int	ec_readODlist (uint16 Slave, ec_ODlistt *pODlist)
int	ec_readOE (uint16 Item, ec_ODlistt pODlist, ec_OElistt pOElist)
static int	ec_readOEsingle (uint16 Item, uint8 SubI, ec_ODlistt pODlist, ec_OElistt pOElist)
int	ec_readPDOassign (uint16 Slave, uint16 PDOassign)
int	ec_readPDOassignCA (uint16 Slave, uint16 PDOassign)
int	ec_readPDOmap (uint16 Slave, int Osize, int Isize)
int	ec_readPDOmapCA (uint16 Slave, int Osize, int Isize)
int	ec_RxPDO (uint16 Slave, uint16 RxPDOnumber, int psize, void *p)
void	ec_SDOerror (uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode)
static void	ec_SDOinfoerror (uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode)
int	ec_SDOread (uint16 slave, uint16 index, uint8 subindex, boolean CA, int psize, void p, int timeout)
int	ec_SDOwrite (uint16 Slave, uint16 Index, uint8 SubIndex, boolean CA, int psize, void *p, int Timeout)
int	ec_TxPDO (uint16 slave, uint16 TxPDOnumber, int psize, void p, int timeout)
Variables
static ec_PDOassignt	ec_PDOassign
static ec_PDOdesct	ec_PDOdesc
static ec_SMcommtypet	ec_SMcommtype

Detailed Description

CAN over EtherCAT (CoE) module.

SDO read / write and SDO service functions

Definition in file ethercatcoe.c.

Typedef Documentation

typedef struct PACKED ec_PDOassignt

SDO assign structure for CA

typedef struct PACKED ec_PDOdesct

SDO description structure for CA

typedef struct PACKED ec_SDOservicet

SDO service structure

typedef struct PACKED ec_SDOt

SDO structure, not to be confused with EcSDOserviceT

typedef struct PACKED ec_SMcommtypet

SyncManager Communication Type structure for CA

Function Documentation

int ec_readODdescription	(	uint16	Item,
		ec_ODlistt *	pODlist
	)

CoE read Object Description. Adds textual description to object indexes.

Parameters:

[in]	Item	= Item number in ODlist.
[in,out]	pODlist	= referencing Object Description list.

Returns:: Workcounter of slave response.

Definition at line 1021 of file ethercatcoe.c.

int ec_readODlist	(	uint16	Slave,
		ec_ODlistt *	pODlist
	)

CoE read Object Description List.

Parameters:

[in]	Slave	= Slave number.
[out]	pODlist	= resulting Object Description list.

Returns:: Workcounter of slave response.

Definition at line 916 of file ethercatcoe.c.

int ec_readOE	(	uint16	Item,
		ec_ODlistt *	pODlist,
		ec_OElistt *	pOElist
	)

CoE read SDO service object entry.

Parameters:

[in]	Item	= Item in ODlist.
[in]	pODlist	= Object description list for reference.
[out]	pOElist	= resulting object entry structure.

Returns:: Workcounter of slave response.

Definition at line 1177 of file ethercatcoe.c.

static int ec_readOEsingle	(	uint16	Item,
		uint8	SubI,
		ec_ODlistt *	pODlist,
		ec_OElistt *	pOElist
	)		`[static]`

CoE read SDO service object entry, single subindex. Used in ec_readOE().

Parameters:

[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.

Returns:: Workcounter of slave response.

Definition at line 1098 of file ethercatcoe.c.

int ec_readPDOassign	(	uint16	Slave,
		uint16	PDOassign
	)

Read PDO assign structure

Definition at line 639 of file ethercatcoe.c.

int ec_readPDOassignCA	(	uint16	Slave,
		uint16	PDOassign
	)

Read PDO assign structure in Complete Access mode

Definition at line 701 of file ethercatcoe.c.

int ec_readPDOmap	(	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)

Parameters:

[in]	Slave	= Slave number
[out]	Osize	= Size in bits of output mapping (rxPDO) found
[out]	Isize	= Size in bits of input mapping (txPDO) found

Returns:: >0 if mapping succesful.

Definition at line 766 of file ethercatcoe.c.

int ec_readPDOmapCA	(	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().

Parameters:

[in]	Slave	= Slave number
[out]	Osize	= Size in bits of output mapping (rxPDO) found
[out]	Isize	= Size in bits of input mapping (txPDO) found

Returns:: >0 if mapping succesful.

Definition at line 846 of file ethercatcoe.c.

int ec_RxPDO	(	uint16	Slave,
		uint16	RxPDOnumber,
		int	psize,
		void *	p
	)

CoE RxPDO write, blocking.

A RxPDO download request is issued.

Parameters:

[in]	Slave	= Slave number
[in]	RxPDOnumber	= Related RxPDO number
[in]	psize	= Size in bytes of PDO buffer.
[out]	p	= Pointer to PDO buffer

Returns:: Workcounter from last slave response

Definition at line 528 of file ethercatcoe.c.

void ec_SDOerror	(	uint16	Slave,
		uint16	Index,
		uint8	SubIdx,
		int32	AbortCode
	)

Report SDO error.

Parameters:

[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 133 of file ethercatcoe.c.

static void ec_SDOinfoerror	(	uint16	Slave,
		uint16	Index,
		uint8	SubIdx,
		int32	AbortCode
	)		`[static]`

Report SDO info error

Parameters:

[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 154 of file ethercatcoe.c.

int ec_SDOread	(	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.

Parameters:

[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

Returns:: Workcounter from last slave response

Definition at line 183 of file ethercatcoe.c.

int ec_SDOwrite	(	uint16	Slave,
		uint16	Index,
		uint8	SubIndex,
		boolean	CA,
		int	psize,
		void *	p,
		int	Timeout
	)

CoE SDO write, blocking. Single subindex or Complete Access.

Only a "normal" download request is issued. If the paramater 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.

Parameters:

[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

Returns:: Workcounter from last slave response

Definition at line 379 of file ethercatcoe.c.

int ec_TxPDO	(	uint16	slave,
		uint16	TxPDOnumber,
		int *	psize,
		void *	p,
		int	timeout
	)

CoE TxPDO read remote request, blocking.

A RxPDO download request is issued.

Parameters:

[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