General typedefs and defines for EtherCAT. More...

#include <sys/time.h>

Include dependency graph for ethercattype.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 500
#define	EC_TIMEOUTRXM 700000
#define	EC_TIMEOUTSAFE 20000
#define	EC_TIMEOUTSTATE 2000000
#define	EC_TIMEOUTTXM 20000
#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	FALSE 0
#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	PACKED __attribute__((__packed__))
#define	put_unaligned32(val, ptr)
#define	put_unaligned64(val, ptr)
#define	SWAP(w) ((((w)& 0xff00) >> 8) \| (((w) & 0x00ff) << 8))
#define	TRUE 1
Typedefs
typedef unsigned char	boolean
typedef uint8	ec_bufT [EC_BUFSIZE]
typedef struct PACKED	ec_comt
typedef struct PACKED	ec_etherheadert
typedef signed short	int16
typedef signed int	int32
typedef signed long long	int64
typedef signed char	int8
typedef unsigned short	uint16
typedef unsigned int	uint32
typedef unsigned long long	uint64
typedef unsigned char	uint8
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_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 }
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 93 of file ethercattype.h.

#define EC_CMDOFFSET EC_ELENGTHSIZE

offset position of command in EtherCAT header

Definition at line 161 of file ethercattype.h.

#define EC_DATAGRAMFOLLOWS (1 << 15)

definition of datagram follows bit in ec_comt.dlength

Definition at line 165 of file ethercattype.h.

#define EC_DEFAULTRETRIES 3

default number of retries if wkc <= 0

Definition at line 116 of file ethercattype.h.

#define EC_ECATTYPE 0x1000

datagram type EtherCAT

Definition at line 95 of file ethercattype.h.

#define EC_ELENGTHSIZE sizeof(uint16)

size of ec_comt.elength item in EtherCAT header

Definition at line 159 of file ethercattype.h.

#define EC_ERROR -3

return value general error

Definition at line 79 of file ethercattype.h.

#define EC_ESTAT_BUSY 0x8000

EEprom state machine busy flag

Definition at line 279 of file ethercattype.h.

#define EC_ESTAT_EMASK 0x7800

EEprom state machine error flag mask

Definition at line 281 of file ethercattype.h.

#define EC_ESTAT_NACK 0x2000

EEprom state machine error acknowledge

Definition at line 283 of file ethercattype.h.

#define EC_ESTAT_R64 0x0040

EEprom state machine read size

Definition at line 277 of file ethercattype.h.

#define EC_FIRSTDCDATAGRAM 20

size of DC datagram used in first LRW frame

Definition at line 91 of file ethercattype.h.

#define EC_HEADERSIZE sizeof(ec_comt)

EtherCAT header size

Definition at line 157 of file ethercattype.h.

#define EC_LITTLE_ENDIAN

Define Little or Big endian target

Definition at line 57 of file ethercattype.h.

#define EC_MAXBUF 16

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

Definition at line 97 of file ethercattype.h.

#define EC_MAXECATFRAME 1518

maximum EtherCAT frame length in bytes

Definition at line 85 of file ethercattype.h.

#define EC_MAXEEPBITMAP 128

size of EEPROM bitmap cache

Definition at line 112 of file ethercattype.h.

#define EC_MAXEEPBUF EC_MAXEEPBITMAP << 5

size of EEPROM cache buffer

Definition at line 114 of file ethercattype.h.

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

maximum EtherCAT LRW frame length in bytes

Definition at line 88 of file ethercattype.h.

#define EC_NOFRAME -1

return value no frame returned

Definition at line 81 of file ethercattype.h.

#define EC_OTHERFRAME -2

return value unknown frame received

Definition at line 83 of file ethercattype.h.

#define EC_TIMEOUTEEP 20000

timeout value in us for EEPROM access

Definition at line 104 of file ethercattype.h.

#define EC_TIMEOUTRET 500

timeout value in us for tx frame to return to rx

Definition at line 99 of file ethercattype.h.

#define EC_TIMEOUTRXM 700000

timeout value in us for rx mailbox cycle

Definition at line 108 of file ethercattype.h.

#define EC_TIMEOUTSAFE 20000

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

Definition at line 102 of file ethercattype.h.

#define EC_TIMEOUTSTATE 2000000

timeout value in us for check statechange

Definition at line 110 of file ethercattype.h.

#define EC_TIMEOUTTXM 20000

timeout value in us for tx mailbox cycle

Definition at line 106 of file ethercattype.h.

#define EC_WKCSIZE sizeof(uint16)

size of workcounter item in EtherCAT datagram

Definition at line 163 of file ethercattype.h.

#define ECT_SDO_PDOASSIGN 0x1c10

standard SDO PDO assignment

Definition at line 387 of file ethercattype.h.

#define ECT_SDO_RXPDOASSIGN 0x1c12

standard SDO RxPDO assignment

Definition at line 389 of file ethercattype.h.

#define ECT_SDO_SMCOMMTYPE 0x1c00

standard SDO Sync Manager Communication Type

Definition at line 385 of file ethercattype.h.

#define ECT_SDO_TXPDOASSIGN 0x1c13

standard SDO TxPDO assignment

Definition at line 391 of file ethercattype.h.

#define ECT_SII_START 0x0040

Start address SII sections in Eeprom

Definition at line 288 of file ethercattype.h.

#define ETH_HEADERSIZE sizeof(ec_etherheadert)

ethernet header size

Definition at line 134 of file ethercattype.h.

#define ETH_P_ECAT 0x88A4

Ethercat packet type

Definition at line 394 of file ethercattype.h.

#define etohl ( A ) (A)

Definition at line 466 of file ethercattype.h.

#define etohll ( A ) (A)

Definition at line 467 of file ethercattype.h.

#define etohs ( A ) (A)

Definition at line 465 of file ethercattype.h.

#define FALSE 0

Definition at line 68 of file ethercattype.h.

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

Definition at line 449 of file ethercattype.h.

#define HI_BYTE ( w ) ((w) >> 8)

Macro to get hi byte of a word

Definition at line 439 of file ethercattype.h.

#define HI_WORD ( l ) ((l) >> 16)

Macro to get hi word of a dword

Definition at line 447 of file ethercattype.h.

#define htoel ( A ) (A)

Definition at line 463 of file ethercattype.h.

#define htoell ( A ) (A)

Definition at line 464 of file ethercattype.h.

#define htoes ( A ) (A)

Definition at line 462 of file ethercattype.h.

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

Macro to get low byte of a word

Definition at line 441 of file ethercattype.h.

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

Macro to get hi word of a dword

Definition at line 445 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 437 of file ethercattype.h.

#define PACKED __attribute__((__packed__))

Definition at line 60 of file ethercattype.h.

#define put_unaligned32	(	val,
		ptr
	)

Value:

({   memcpy((ptr), &(val), 4);         \
      (void)0; })

Definition at line 452 of file ethercattype.h.

#define put_unaligned64	(	val,
		ptr
	)

Value:

({   memcpy((ptr), &(val), 8);         \
      (void)0; })

Definition at line 456 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 443 of file ethercattype.h.

#define TRUE 1

Definition at line 67 of file ethercattype.h.

Typedef Documentation

typedef unsigned char boolean

Definition at line 66 of file ethercattype.h.

typedef uint8 ec_bufT[EC_BUFSIZE]

definition for frame buffers

Definition at line 119 of file ethercattype.h.

typedef struct PACKED ec_comt

EtherCAT datagram header definition

typedef struct PACKED ec_etherheadert

ethernet header definition

typedef signed short int16

Definition at line 70 of file ethercattype.h.

typedef signed int int32

Definition at line 71 of file ethercattype.h.

typedef signed long long int64

Definition at line 75 of file ethercattype.h.

typedef signed char int8

Definition at line 69 of file ethercattype.h.

typedef unsigned short uint16

Definition at line 73 of file ethercattype.h.

typedef unsigned int uint32

Definition at line 74 of file ethercattype.h.

typedef unsigned long long uint64

Definition at line 76 of file ethercattype.h.

typedef unsigned char uint8

Definition at line 72 of file ethercattype.h.

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 367 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 290 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 305 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 314 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 333 of file ethercattype.h.

anonymous enum

CoE SDO commands

Enumerator:

ECT_SDO_DOWN_INIT
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 340 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 347 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 354 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 360 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 202 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 228 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 217 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 264 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 168 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

Definition at line 397 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 185 of file ethercattype.h.

Classes

Defines

Typedefs

Enumerations

Detailed Description

Define Documentation

Typedef Documentation

Enumeration Type Documentation