esc_coe.c File Reference

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

#include <string.h>
#include "utypes.h"
#include "esc.h"
#include "esc_coe.h"
#include "objectlist.h"

Defines
#define	BITS2BYTES(b)   ((b + 7) >> 3)
#define	ODLISTSIZE   ((MBX1_sml - MBXHSIZE - sizeof(_COEh) - sizeof(_INFOh) - 2) & 0xfffe)
Functions
int32	SDO_findobject (uint16 index)
uint16	sizeTXPDO (void)
uint16	sizeRXPDO (void)
int16	SDO_findsubindex (int16 nidx, uint8 subindex)
void	copy2mbx (void *source, void *dest, uint16 size)
void	SDO_abort (uint16 index, uint8 subindex, uint32 abortcode)
void	SDO_upload (void)
void	SDO_uploadsegment (void)
int	ESC_pre_objecthandler (uint16 index, uint8 subindex)
void	SDO_download (void)
void	SDO_infoerror (uint32 abortcode)
void	SDO_getodlist (void)
void	SDO_getodlistcont (void)
void	SDO_getod (void)
void	SDO_geted (void)
void	ESC_coeprocess (void)
Variables
uint8	txpdoitems
uint8	rxpdoitems

---

Detailed Description

CAN over EtherCAT (CoE) module.

SDO read / write and SDO service functions

---

Define Documentation

#define BITS2BYTES

(

b

)

((b + 7) >> 3)

#define ODLISTSIZE   ((MBX1_sml - MBXHSIZE - sizeof(_COEh) - sizeof(_INFOh) - 2) & 0xfffe)

---

Function Documentation

void copy2mbx	(	void *	source,
		void *	dest,
		uint16	size
	)

Copy to mailbox.

Parameters:

[in]	source	= pointer to source
[in]	dest	= pointer to destination
[in]	size	= Size to copy

void ESC_coeprocess

(

void

)

Main CoE function checking the status on current mailbox buffers carrying data, distributing the mailboxes to appropriate CoE functions. On Error an MBX_error or SDO Abort will be sent depending on error cause.

int ESC_pre_objecthandler	(	uint16	index,
		uint8	subindex
	)

Function to pre-qualify the incoming SDO download.

Parameters:

[in]	index	= index of SDO download request to check
[in]	sub-index	= sub-index of SDO download request to check

Returns:

1 if the SDO Download is correct. 0 If not correct.

void SDO_abort	(	uint16	index,
		uint8	subindex,
		uint32	abortcode
	)

Function for sending an SDO Abort reply.

Parameters:

[in]	index	= index of object causing abort reply
[in]	sub-index	= sub-index of object causing abort reply
[in]	abortcode	= abort code to send in reply

void SDO_download

(

void

)

Function for handling incoming requested SDO Download, validating the request and sending an response. On error an SDO Abort will be sent.

int32 SDO_findobject

(

uint16

index

)

Search for an object index matching the wanted value in the Object List.

Parameters:

[in]

index

= value on index of object we want to locate

Returns:

local array index if we succeed, -1 if we didn't find the index.

int16 SDO_findsubindex	(	int16	nidx,
		uint8	subindex
	)

Search for an object sub-index.

Parameters:

[in]	nidx	= local array index of object we want to find sub-index to
[in]	subindex	= value on sub-index of object we want to locate

Returns:

local array index if we succeed, -1 if we didn't find the index.

void SDO_geted

(

void

)

Function for handling incoming requested SDO Get Entry Description, validating the request and sending an response. On error an SDO Info Error will be sent.

void SDO_getod

(

void

)

Function for handling incoming requested SDO Get Object Description, validating the request and sending an response. On error an SDO Info Error will be sent.

void SDO_getodlist

(

void

)

Function for handling incoming requested SDO Get OD List, validating the request and sending an response. On error an SDO Info Error will be sent.

void SDO_getodlistcont

(

void

)

Function for continuing sending left overs from previous requested SDO Get OD List, validating the request and sending an response.

void SDO_infoerror

(

uint32

abortcode

)

Function for sending an SDO Info Error reply.

Parameters:

[in]

abortcode

= = abort code to send in reply

void SDO_upload

(

void

)

Function for responding on requested SDO Upload, sending the content requested in a free Mailbox buffer. Depending of size of data expedited, normal or segmented transfer is used. On error an SDO Abort will be sent.

void SDO_uploadsegment

(

void

)

Function for handling the following SDO Upload if previous SDOUpload response was flagged it needed to be segmented.

uint16 sizeRXPDO

(

void

)

Calculate the size in Bytes of RxPDOs by adding the objects in SyncManager SDO 1C12.

Returns:

size of RxPDOs in Bytes.

uint16 sizeTXPDO

(

void

)

Calculate the size in Bytes of TxPDOs by adding the objects in SyncManager SDO 1C13.

Returns:

size of TxPDOs in Bytes.

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Variable Documentation

uint8 rxpdoitems

uint8 txpdoitems