|
| enum | ec_err {
EC_ERR_OK = 0,
EC_ERR_ALREADY_INITIALIZED,
EC_ERR_NOT_INITIALIZED,
EC_ERR_TIMEOUT,
EC_ERR_NO_SLAVES,
EC_ERR_NOK
} |
| |
| enum | ec_state {
EC_STATE_NONE = 0x00,
EC_STATE_INIT = 0x01,
EC_STATE_PRE_OP = 0x02,
EC_STATE_BOOT = 0x03,
EC_STATE_SAFE_OP = 0x04,
EC_STATE_OPERATIONAL = 0x08,
EC_STATE_ACK = 0x10,
EC_STATE_ERROR = 0x10
} |
| |
| enum | ec_bufstate {
EC_BUF_EMPTY = 0x00,
EC_BUF_ALLOC = 0x01,
EC_BUF_TX = 0x02,
EC_BUF_RCVD = 0x03,
EC_BUF_COMPLETE = 0x04
} |
| |
| enum | ec_datatype {
ECT_BOOLEAN = 0x0001,
ECT_INTEGER8 = 0x0002,
ECT_INTEGER16 = 0x0003,
ECT_INTEGER32 = 0x0004,
ECT_UNSIGNED8 = 0x0005,
ECT_UNSIGNED16 = 0x0006,
ECT_UNSIGNED32 = 0x0007,
ECT_REAL32 = 0x0008,
ECT_VISIBLE_STRING = 0x0009,
ECT_OCTET_STRING = 0x000A,
ECT_UNICODE_STRING = 0x000B,
ECT_TIME_OF_DAY = 0x000C,
ECT_TIME_DIFFERENCE = 0x000D,
ECT_DOMAIN = 0x000F,
ECT_INTEGER24 = 0x0010,
ECT_REAL64 = 0x0011,
ECT_INTEGER64 = 0x0015,
ECT_UNSIGNED24 = 0x0016,
ECT_UNSIGNED64 = 0x001B,
ECT_BIT1 = 0x0030,
ECT_BIT2 = 0x0031,
ECT_BIT3 = 0x0032,
ECT_BIT4 = 0x0033,
ECT_BIT5 = 0x0034,
ECT_BIT6 = 0x0035,
ECT_BIT7 = 0x0036,
ECT_BIT8 = 0x0037
} |
| |
| enum | ec_cmdtype {
EC_CMD_NOP = 0x00,
EC_CMD_APRD,
EC_CMD_APWR,
EC_CMD_APRW,
EC_CMD_FPRD,
EC_CMD_FPWR,
EC_CMD_FPRW,
EC_CMD_BRD,
EC_CMD_BWR,
EC_CMD_BRW,
EC_CMD_LRD,
EC_CMD_LWR,
EC_CMD_LRW,
EC_CMD_ARMW,
EC_CMD_FRMW
} |
| |
| enum | ec_ecmdtype { EC_ECMD_NOP = 0x0000,
EC_ECMD_READ = 0x0100,
EC_ECMD_WRITE = 0x0201,
EC_ECMD_RELOAD = 0x0300
} |
| |
| enum | {
ECT_SII_STRING = 10,
ECT_SII_GENERAL = 30,
ECT_SII_FMMU = 40,
ECT_SII_SM = 41,
ECT_SII_PDO = 50
} |
| |
| enum | {
ECT_SII_MANUF = 0x0008,
ECT_SII_ID = 0x000a,
ECT_SII_REV = 0x000c,
ECT_SII_BOOTRXMBX = 0x0014,
ECT_SII_BOOTTXMBX = 0x0016,
ECT_SII_MBXSIZE = 0x0019,
ECT_SII_TXMBXADR = 0x001a,
ECT_SII_RXMBXADR = 0x0018,
ECT_SII_MBXPROTO = 0x001c
} |
| |
| enum | {
ECT_MBXT_ERR = 0x00,
ECT_MBXT_AOE,
ECT_MBXT_EOE,
ECT_MBXT_COE,
ECT_MBXT_FOE,
ECT_MBXT_SOE,
ECT_MBXT_VOE = 0x0f
} |
| |
| enum | {
ECT_COES_EMERGENCY = 0x01,
ECT_COES_SDOREQ,
ECT_COES_SDORES,
ECT_COES_TXPDO,
ECT_COES_RXPDO,
ECT_COES_TXPDO_RR,
ECT_COES_RXPDO_RR,
ECT_COES_SDOINFO
} |
| |
| enum | {
ECT_SDO_DOWN_INIT = 0x21,
ECT_SDO_DOWN_EXP = 0x23,
ECT_SDO_DOWN_INIT_CA = 0x31,
ECT_SDO_UP_REQ = 0x40,
ECT_SDO_UP_REQ_CA = 0x50,
ECT_SDO_SEG_UP_REQ = 0x60,
ECT_SDO_ABORT = 0x80
} |
| |
| enum | {
ECT_GET_ODLIST_REQ = 0x01,
ECT_GET_ODLIST_RES = 0x02,
ECT_GET_OD_REQ = 0x03,
ECT_GET_OD_RES = 0x04,
ECT_GET_OE_REQ = 0x05,
ECT_GET_OE_RES = 0x06,
ECT_SDOINFO_ERROR = 0x07
} |
| |
| enum | {
ECT_FOE_READ = 0x01,
ECT_FOE_WRITE,
ECT_FOE_DATA,
ECT_FOE_ACK,
ECT_FOE_ERROR,
ECT_FOE_BUSY
} |
| |
| enum | {
ECT_SOE_READREQ = 0x01,
ECT_SOE_READRES,
ECT_SOE_WRITEREQ,
ECT_SOE_WRITERES,
ECT_SOE_NOTIFICATION,
ECT_SOE_EMERGENCY
} |
| |
| enum | {
ECT_REG_TYPE = 0x0000,
ECT_REG_PORTDES = 0x0007,
ECT_REG_ESCSUP = 0x0008,
ECT_REG_STADR = 0x0010,
ECT_REG_ALIAS = 0x0012,
ECT_REG_DLCTL = 0x0100,
ECT_REG_DLPORT = 0x0101,
ECT_REG_DLALIAS = 0x0103,
ECT_REG_DLSTAT = 0x0110,
ECT_REG_ALCTL = 0x0120,
ECT_REG_ALSTAT = 0x0130,
ECT_REG_ALSTATCODE = 0x0134,
ECT_REG_PDICTL = 0x0140,
ECT_REG_IRQMASK = 0x0200,
ECT_REG_RXERR = 0x0300,
ECT_REG_FRXERR = 0x0308,
ECT_REG_EPUECNT = 0x030C,
ECT_REG_PECNT = 0x030D,
ECT_REG_PECODE = 0x030E,
ECT_REG_LLCNT = 0x0310,
ECT_REG_WDCNT = 0x0442,
ECT_REG_EEPCFG = 0x0500,
ECT_REG_EEPCTL = 0x0502,
ECT_REG_EEPSTAT = 0x0502,
ECT_REG_EEPADR = 0x0504,
ECT_REG_EEPDAT = 0x0508,
ECT_REG_FMMU0 = 0x0600,
ECT_REG_FMMU1 = ECT_REG_FMMU0 + 0x10,
ECT_REG_FMMU2 = ECT_REG_FMMU1 + 0x10,
ECT_REG_FMMU3 = ECT_REG_FMMU2 + 0x10,
ECT_REG_SM0 = 0x0800,
ECT_REG_SM1 = ECT_REG_SM0 + 0x08,
ECT_REG_SM2 = ECT_REG_SM1 + 0x08,
ECT_REG_SM3 = ECT_REG_SM2 + 0x08,
ECT_REG_SM0STAT = ECT_REG_SM0 + 0x05,
ECT_REG_SM1STAT = ECT_REG_SM1 + 0x05,
ECT_REG_SM1ACT = ECT_REG_SM1 + 0x06,
ECT_REG_SM1CONTR = ECT_REG_SM1 + 0x07,
ECT_REG_DCTIME0 = 0x0900,
ECT_REG_DCTIME1 = 0x0904,
ECT_REG_DCTIME2 = 0x0908,
ECT_REG_DCTIME3 = 0x090C,
ECT_REG_DCSYSTIME = 0x0910,
ECT_REG_DCSOF = 0x0918,
ECT_REG_DCSYSOFFSET = 0x0920,
ECT_REG_DCSYSDELAY = 0x0928,
ECT_REG_DCSYSDIFF = 0x092C,
ECT_REG_DCSPEEDCNT = 0x0930,
ECT_REG_DCTIMEFILT = 0x0934,
ECT_REG_DCCUC = 0x0980,
ECT_REG_DCSYNCACT = 0x0981,
ECT_REG_DCSTART0 = 0x0990,
ECT_REG_DCCYCLE0 = 0x09A0,
ECT_REG_DCCYCLE1 = 0x09A4
} |
| |
| enum | ec_err_type {
EC_ERR_TYPE_SDO_ERROR = 0,
EC_ERR_TYPE_EMERGENCY = 1,
EC_ERR_TYPE_PACKET_ERROR = 3,
EC_ERR_TYPE_SDOINFO_ERROR = 4,
EC_ERR_TYPE_FOE_ERROR = 5,
EC_ERR_TYPE_FOE_BUF2SMALL = 6,
EC_ERR_TYPE_FOE_PACKETNUMBER = 7,
EC_ERR_TYPE_SOE_ERROR = 8,
EC_ERR_TYPE_MBX_ERROR = 9,
EC_ERR_TYPE_FOE_FILE_NOTFOUND = 10,
EC_ERR_TYPE_EOE_INVALID_RX_DATA = 11
} |
| |
General typedefs and defines for EtherCAT.
Defines that could need optimisation for specific applications are the EC_TIMEOUTxxx. Assumptions for the standard settings are a standard linux PC or laptop and a wired connection to maximal 100 slaves. For use with wireless connections or lots of slaves the timeouts need increasing. For fast systems running Xenomai and RT-net or alike the timeouts need to be shorter.
