ethercatsoe.c File Reference

Servo over EtherCAT (SoE) Module. More...

#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercattype.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatsoe.h"

Data Structures
struct	ec_SoEt

Macros
#define	EC_SOE_MAX_DRIVES   8

Functions
PACKED_END void	ecx_SoEerror (ecx_contextt *context, uint16 Slave, uint16 idn, uint16 Error)
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)
int	ecx_readIDNmap (ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
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)
int	ec_readIDNmap (uint16 slave, int *Osize, int *Isize)

Detailed Description

Servo over EtherCAT (SoE) Module.

Macro Definition Documentation

EC_SOE_MAX_DRIVES

#define EC_SOE_MAX_DRIVES   8

Function Documentation

ec_readIDNmap()

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

ec_SoEread()

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

ec_SoEwrite()

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

ecx_readIDNmap()

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.

ecx_SoEerror()

PACKED_END void ecx_SoEerror	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	idn,
		uint16	Error
	)

Report SoE error.

Parameters

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

ecx_SoEread()

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

ecx_SoEwrite()

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