ethercatsoe.h File Reference

Headerfile for ethercatsoe.c. More...

Data Structures
struct	ec_SoEnamet
struct	ec_SoElistt
struct	ec_SoEmappingt
struct	ec_SoEattributet

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

Functions
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)
int	ecx_readIDNmap (ecx_contextt *context, uint16 slave, int *Osize, int *Isize)

Detailed Description

Headerfile for ethercatsoe.c.

Macro Definition Documentation

EC_IDN_ATCONFIG

#define EC_IDN_ATCONFIG   16

EC_IDN_MDTCONFIG

#define EC_IDN_MDTCONFIG   24

EC_SOE_ATTRIBUTE_B

#define EC_SOE_ATTRIBUTE_B   0x04

EC_SOE_DATASTATE_B

#define EC_SOE_DATASTATE_B   0x01

EC_SOE_DEFAULT_B

#define EC_SOE_DEFAULT_B   0x80

EC_SOE_LENGTH_1

#define EC_SOE_LENGTH_1   0x00

EC_SOE_LENGTH_2

#define EC_SOE_LENGTH_2   0x01

EC_SOE_LENGTH_4

#define EC_SOE_LENGTH_4   0x02

EC_SOE_LENGTH_8

#define EC_SOE_LENGTH_8   0x03

EC_SOE_MAX_B

#define EC_SOE_MAX_B   0x20

EC_SOE_MAXMAPPING

#define EC_SOE_MAXMAPPING   64

EC_SOE_MAXNAME

#define EC_SOE_MAXNAME   60

EC_SOE_MIN_B

#define EC_SOE_MIN_B   0x10

EC_SOE_NAME_B

#define EC_SOE_NAME_B   0x02

EC_SOE_TYPE_BINARY

#define EC_SOE_TYPE_BINARY   0x00

EC_SOE_TYPE_FLOAT

#define EC_SOE_TYPE_FLOAT   0x06

EC_SOE_TYPE_HEX

#define EC_SOE_TYPE_HEX   0x03

EC_SOE_TYPE_IDN

#define EC_SOE_TYPE_IDN   0x05

EC_SOE_TYPE_INT

#define EC_SOE_TYPE_INT   0x02

EC_SOE_TYPE_PARAMETER

#define EC_SOE_TYPE_PARAMETER   0x07

EC_SOE_TYPE_STRING

#define EC_SOE_TYPE_STRING   0x04

EC_SOE_TYPE_UINT

#define EC_SOE_TYPE_UINT   0x01

EC_SOE_UNIT_B

#define EC_SOE_UNIT_B   0x08

EC_SOE_VALUE_B

#define EC_SOE_VALUE_B   0x40

Function Documentation

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_SoEread()

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

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