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"

Data Structures
struct	ec_SDOt

struct	ec_SDOservicet

Functions
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_RxPDO (ecx_contextt context, uint16 Slave, uint16 RxPDOnumber, int psize, void p)

int	ecx_TxPDO (ecx_contextt context, uint16 slave, uint16 TxPDOnumber, int psize, void *p, int timeout)

int	ecx_readPDOassign (ecx_contextt *context, uint16 Slave, uint16 PDOassign)

int	ecx_readPDOassignCA (ecx_contextt *context, uint16 Slave, int Thread_n, uint16 PDOassign)

int	ecx_readPDOmap (ecx_contextt context, uint16 Slave, int Osize, int *Isize)

int	ecx_readPDOmapCA (ecx_contextt context, uint16 Slave, int Thread_n, int Osize, int *Isize)

int	ecx_readODlist (ecx_contextt context, uint16 Slave, ec_ODlistt pODlist)

int	ecx_readODdescription (ecx_contextt context, uint16 Item, ec_ODlistt pODlist)

int	ecx_readOEsingle (ecx_contextt context, uint16 Item, uint8 SubI, ec_ODlistt pODlist, ec_OElistt *pOElist)

int	ecx_readOE (ecx_contextt context, uint16 Item, ec_ODlistt pODlist, ec_OElistt *pOElist)

void	ec_SDOerror (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_RxPDO (uint16 Slave, uint16 RxPDOnumber, int psize, void *p)

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

int	ec_readPDOassign (uint16 Slave, uint16 PDOassign)

int	ec_readPDOassignCA (uint16 Slave, uint16 PDOassign, int Thread_n)

int	ec_readPDOmap (uint16 Slave, int Osize, int Isize)

int	ec_readPDOmapCA (uint16 Slave, int Thread_n, int Osize, int Isize)

int	ec_readODlist (uint16 Slave, ec_ODlistt *pODlist)

int	ec_readODdescription (uint16 Item, ec_ODlistt *pODlist)

int	ec_readOEsingle (uint16 Item, uint8 SubI, ec_ODlistt pODlist, ec_OElistt pOElist)

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

Detailed Description

CAN over EtherCAT (CoE) module.

SDO read / write and SDO service functions

Function Documentation

◆ ec_readODdescription()

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.

See also: ecx_readODdescription

◆ ec_readODlist()

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.

See also: ecx_readODlist

◆ ec_readOE()

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.

See also: ecx_readOE

◆ ec_readOEsingle()

int ec_readOEsingle	(	uint16	Item,
		uint8	SubI,
		ec_ODlistt *	pODlist,
		ec_OElistt *	pOElist
	)

◆ ec_readPDOassign()

int ec_readPDOassign	(	uint16	Slave,
		uint16	PDOassign
	)

Read PDO assign structure

Parameters

[in]	Slave	= Slave number
[in]	PDOassign	= PDO assign object

Returns: total bitlength of PDO assign

◆ ec_readPDOassignCA()

int ec_readPDOassignCA	(	uint16	Slave,
		uint16	PDOassign,
		int	Thread_n
	)

Read PDO assign structure in Complete Access mode

Parameters

[in]	Slave	= Slave number
[in]	PDOassign	= PDO assign object
[in]	Thread_n	= Calling thread index

Returns: total bitlength of PDO assign

See also: ecx_readPDOmap

◆ ec_readPDOmap()

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.

For details, see ecx_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.

◆ ec_readPDOmapCA()

int ec_readPDOmapCA	(	uint16	Slave,
		int	Thread_n,
		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
[in]	Thread_n	= Calling thread index
[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.

See also: ecx_readPDOmap ec_readPDOmapCA

◆ ec_RxPDO()

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

See also: ecx_RxPDO

◆ ec_SDOerror()

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

See also: ecx_SDOerror

◆ ec_SDOread()

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

See also: ecx_SDOread

◆ ec_SDOwrite()

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.

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.

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

See also: ecx_SDOwrite

◆ ec_TxPDO()

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

Returns: Workcounter from last slave response

See also: ecx_TxPDO

◆ ecx_readODdescription()

int ecx_readODdescription	(	ecx_contextt *	context,
		uint16	Item,
		ec_ODlistt *	pODlist
	)

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

Parameters

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

Returns: Workcounter of slave response.

◆ ecx_readODlist()

int ecx_readODlist	(	ecx_contextt *	context,
		uint16	Slave,
		ec_ODlistt *	pODlist
	)

CoE read Object Description List.

Parameters

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

Returns: Workcounter of slave response.

◆ ecx_readOE()

int ecx_readOE	(	ecx_contextt *	context,
		uint16	Item,
		ec_ODlistt *	pODlist,
		ec_OElistt *	pOElist
	)

CoE read SDO service object entry.

Parameters

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

Returns: Workcounter of slave response.

◆ ecx_readOEsingle()

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().

Parameters

[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.

Returns: Workcounter of slave response.

◆ ecx_readPDOassign()

int ecx_readPDOassign	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	PDOassign
	)

Read PDO assign structure

Parameters

[in]	context	= context struct
[in]	Slave	= Slave number
[in]	PDOassign	= PDO assign object

Returns: total bitlength of PDO assign

◆ ecx_readPDOassignCA()

int ecx_readPDOassignCA	(	ecx_contextt *	context,
		uint16	Slave,
		int	Thread_n,
		uint16	PDOassign
	)

Read PDO assign structure in Complete Access mode

Parameters

[in]	context	= context struct
[in]	Slave	= Slave number
[in]	Thread_n	= Calling thread index
[in]	PDOassign	= PDO assign object

Returns: total bitlength of PDO assign

◆ ecx_readPDOmap()

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 SM3 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]	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

Returns: >0 if mapping successful.

◆ ecx_readPDOmapCA()

int ecx_readPDOmapCA	(	ecx_contextt *	context,
		uint16	Slave,
		int	Thread_n,
		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]	context	= context struct
[in]	Slave	= Slave number
[in]	Thread_n	= Calling thread index
[out]	Osize	= Size in bits of output mapping (rxPDO) found
[out]	Isize	= Size in bits of input mapping (txPDO) found

Returns: >0 if mapping successful.

◆ ecx_RxPDO()

int ecx_RxPDO	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	RxPDOnumber,
		int	psize,
		void *	p
	)

CoE RxPDO write, blocking.

A RxPDO download request is issued.

Parameters

[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

Returns: Workcounter from last slave response

◆ ecx_SDOerror()

PACKED_END void ecx_SDOerror	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	Index,
		uint8	SubIdx,
		int32	AbortCode
	)

Report SDO error.

Parameters

[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

◆ ecx_SDOinfoerror()

static void ecx_SDOinfoerror	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	Index,
		uint8	SubIdx,
		int32	AbortCode
	)

static

Report SDO info error

Parameters

[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

◆ ecx_SDOread()

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.

Parameters

[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

Returns: Workcounter from last slave response

◆ ecx_SDOwrite()

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.

Parameters

[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

Returns: Workcounter from last slave response

◆ ecx_TxPDO()

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.

Parameters

[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

Returns: Workcounter from last slave response

Data Structures

Functions

Detailed Description

Function Documentation

◆ ec_readODdescription()

◆ ec_readODlist()

◆ ec_readOE()

◆ ec_readOEsingle()

◆ ec_readPDOassign()

◆ ec_readPDOassignCA()

◆ ec_readPDOmap()

◆ ec_readPDOmapCA()

◆ ec_RxPDO()

◆ ec_SDOerror()

◆ ec_SDOread()

◆ ec_SDOwrite()

◆ ec_TxPDO()

◆ ecx_readODdescription()

◆ ecx_readODlist()

◆ ecx_readOE()

◆ ecx_readOEsingle()

◆ ecx_readPDOassign()

◆ ecx_readPDOassignCA()

◆ ecx_readPDOmap()

◆ ecx_readPDOmapCA()

◆ ecx_RxPDO()

◆ ecx_SDOerror()

◆ ecx_SDOinfoerror()

◆ ecx_SDOread()

◆ ecx_SDOwrite()

◆ ecx_TxPDO()