ethercatsoe.h File Reference

Headerfile for ethercatsoe.c. More...

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

Go to the source code of this file.

Classes
struct	PACKED
struct	PACKED
struct	PACKED
struct	PACKED

Macros
#define	EC_IDN_ATCONFIG   16
#define	EC_IDN_MDTCONFIG   24
#define	EC_SOE_ATTRIBUTE_B   0x04
#define	EC_SOE_DATASTATE_B   0x01
#define	EC_SOE_DEFAULT_B   0x80
#define	EC_SOE_LENGTH_1   0x00
#define	EC_SOE_LENGTH_2   0x01
#define	EC_SOE_LENGTH_4   0x02
#define	EC_SOE_LENGTH_8   0x03
#define	EC_SOE_MAX_B   0x20
#define	EC_SOE_MAXMAPPING   64
#define	EC_SOE_MAXNAME   60
#define	EC_SOE_MIN_B   0x10
#define	EC_SOE_NAME_B   0x02
#define	EC_SOE_TYPE_BINARY   0x00
#define	EC_SOE_TYPE_FLOAT   0x06
#define	EC_SOE_TYPE_HEX   0x03
#define	EC_SOE_TYPE_IDN   0x05
#define	EC_SOE_TYPE_INT   0x02
#define	EC_SOE_TYPE_PARAMETER   0x07
#define	EC_SOE_TYPE_STRING   0x04
#define	EC_SOE_TYPE_UINT   0x01
#define	EC_SOE_UNIT_B   0x08
#define	EC_SOE_VALUE_B   0x40

Typedefs
typedef PACKED_BEGIN struct PACKED	ec_SoEattributet
typedef PACKED_END PACKED_BEGIN struct PACKED	ec_SoElistt
typedef PACKED_END PACKED_BEGIN struct PACKED	ec_SoEmappingt
typedef PACKED_BEGIN struct PACKED	ec_SoEnamet

Functions
int	ecx_readIDNmap (ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
PACKED_END int	ecx_SoEread (ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)
int	ecx_SoEwrite (ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)

Detailed Description

Headerfile for ethercatsoe.c.

Definition in file ethercatsoe.h.

Macro Definition Documentation

#define EC_IDN_ATCONFIG   16

Definition at line 32 of file ethercatsoe.h.

#define EC_IDN_MDTCONFIG   24

Definition at line 31 of file ethercatsoe.h.

#define EC_SOE_ATTRIBUTE_B   0x04

Definition at line 21 of file ethercatsoe.h.

#define EC_SOE_DATASTATE_B   0x01

Definition at line 19 of file ethercatsoe.h.

#define EC_SOE_DEFAULT_B   0x80

Definition at line 26 of file ethercatsoe.h.

#define EC_SOE_LENGTH_1   0x00

Definition at line 76 of file ethercatsoe.h.

#define EC_SOE_LENGTH_2   0x01

Definition at line 77 of file ethercatsoe.h.

#define EC_SOE_LENGTH_4   0x02

Definition at line 78 of file ethercatsoe.h.

#define EC_SOE_LENGTH_8   0x03

Definition at line 79 of file ethercatsoe.h.

#define EC_SOE_MAX_B   0x20

Definition at line 24 of file ethercatsoe.h.

#define EC_SOE_MAXMAPPING   64

Definition at line 29 of file ethercatsoe.h.

#define EC_SOE_MAXNAME   60

Definition at line 28 of file ethercatsoe.h.

#define EC_SOE_MIN_B   0x10

Definition at line 23 of file ethercatsoe.h.

#define EC_SOE_NAME_B   0x02

Definition at line 20 of file ethercatsoe.h.

#define EC_SOE_TYPE_BINARY   0x00

Definition at line 80 of file ethercatsoe.h.

#define EC_SOE_TYPE_FLOAT   0x06

Definition at line 86 of file ethercatsoe.h.

#define EC_SOE_TYPE_HEX   0x03

Definition at line 83 of file ethercatsoe.h.

#define EC_SOE_TYPE_IDN   0x05

Definition at line 85 of file ethercatsoe.h.

#define EC_SOE_TYPE_INT   0x02

Definition at line 82 of file ethercatsoe.h.

#define EC_SOE_TYPE_PARAMETER   0x07

Definition at line 87 of file ethercatsoe.h.

#define EC_SOE_TYPE_STRING   0x04

Definition at line 84 of file ethercatsoe.h.

#define EC_SOE_TYPE_UINT   0x01

Definition at line 81 of file ethercatsoe.h.

#define EC_SOE_UNIT_B   0x08

Definition at line 22 of file ethercatsoe.h.

#define EC_SOE_VALUE_B   0x40

Definition at line 25 of file ethercatsoe.h.

Typedef Documentation

typedef PACKED_BEGIN struct PACKED ec_SoEattributet

SoE attribute structure

typedef PACKED_END PACKED_BEGIN struct PACKED ec_SoElistt

SoE list structure

typedef PACKED_END PACKED_BEGIN struct PACKED ec_SoEmappingt

SoE IDN mapping structure

typedef PACKED_BEGIN struct PACKED ec_SoEnamet

SoE name structure

Function Documentation

int ecx_readIDNmap	(	ecx_contextt *	context,
		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]	context	= context struct
[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 successful.

Definition at line 312 of file ethercatsoe.c.

PACKED_END int ecx_SoEread	(	ecx_contextt *	context,
		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]	context	= context struct
[in]	slave	= Slave number
[in]	driveNo	= Drive number in slave
[in]	elementflags	= Flags to select what properties of IDN are to be transferred.
[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 78 of file ethercatsoe.c.

int ecx_SoEwrite	(	ecx_contextt *	context,
		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]	context	= context struct
[in]	slave	= Slave number
[in]	driveNo	= Drive number in slave
[in]	elementflags	= Flags to select what properties of IDN are to be transferred.
[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 200 of file ethercatsoe.c.