ethercatsoe.c File Reference

Servo over EtherCAT (SoE) 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/ethercatsoe.h>

Include dependency graph for ethercatsoe.c:

Go to the source code of this file.

Classes
struct	PACKED
Typedefs
typedef struct PACKED	ec_SoEt
Functions
int	ec_readIDNmap (uint16 slave, int *Osize, int *Isize)
void	ec_SoEerror (uint16 Slave, uint16 idn, uint16 Error)
int	ec_SoEread (uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)
int	ec_SoEwrite (uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)
Variables
static ec_SoEattributet	SoEattribute
static ec_SoEmappingt	SoEmapping

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Detailed Description

Servo over EtherCAT (SoE) Module.

Definition in file ethercatsoe.c.

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Typedef Documentation

typedef struct PACKED ec_SoEt

SoE (Servo over EtherCAT) mailbox structure

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Function Documentation

int ec_readIDNmap	(	uint16	slave,
		int *	Osize,
		int *	Isize
	)

SoE read AT and MTD mapping.

SoE has standard indexes defined for mapping. This function tries to read them and collect a full input and output mapping size of designated slave.

Parameters:

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

Returns:

>0 if mapping succesful.

Definition at line 337 of file ethercatsoe.c.

void ec_SoEerror	(	uint16	Slave,
		uint16	idn,
		uint16	Error
	)

Report SoE error.

Parameters:

[in]	Slave	= Slave number
[in]	idn	= IDN that generated error
[in]	Error	= Error code, see EtherCAT documentation for list

Definition at line 83 of file ethercatsoe.c.

int ec_SoEread	(	uint16	slave,
		uint8	driveNo,
		uint8	elementflags,
		uint16	idn,
		int *	psize,
		void *	p,
		int	timeout
	)

SoE read, blocking.

The IDN object of the selected slave and DriveNo is read. If a 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]	driveNo	= Drive number in slave
[in]	elementflags	= Flags to select what properties of IDN are to be transfered.
[in]	idn	= IDN.
[in,out]	psize	= Size in bytes of parameter buffer, returns bytes read from SoE.
[out]	p	= Pointer to parameter buffer
[in]	timeout	= Timeout in us, standard is EC_TIMEOUTRXM

Returns:

Workcounter from last slave response

Definition at line 112 of file ethercatsoe.c.

int ec_SoEwrite	(	uint16	slave,
		uint8	driveNo,
		uint8	elementflags,
		uint16	idn,
		int	psize,
		void *	p,
		int	timeout
	)

SoE write, blocking.

The IDN object of the selected slave and DriveNo is written. If a response is larger than the mailbox size then the response is segmented.

Parameters:

[in]	slave	= Slave number
[in]	driveNo	= Drive number in slave
[in]	elementflags	= Flags to select what properties of IDN are to be transfered.
[in]	idn	= IDN.
[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 230 of file ethercatsoe.c.

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Variable Documentation

ec_SoEattributet SoEattribute [static]

Definition at line 75 of file ethercatsoe.c.

ec_SoEmappingt SoEmapping [static]

Definition at line 74 of file ethercatsoe.c.