AB&T / SOEM

SOEM EtherCAT Master library for STM Nucleo F767ZI

Dependents:   EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB

  • It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .

Warning

/media/uploads/EasyCAT/easycat_lab.jpg

SOEM/ethercatcoe.h@0:543d6784d4cc, 2019-06-11 (annotated)

Committer:
EasyCAT
Date:
Tue Jun 11 10:29:09 2019 +0000
Revision:
0:543d6784d4cc
SOEM EtherCAT Master Library for STM Nucleo F767ZI

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EasyCAT 0:543d6784d4cc 1 /*
EasyCAT 0:543d6784d4cc 2 * Licensed under the GNU General Public License version 2 with exceptions. See
EasyCAT 0:543d6784d4cc 3 * LICENSE file in the project root for full license information
EasyCAT 0:543d6784d4cc 4 */
EasyCAT 0:543d6784d4cc 5
EasyCAT 0:543d6784d4cc 6 /** \file
EasyCAT 0:543d6784d4cc 7 * \brief
EasyCAT 0:543d6784d4cc 8 * Headerfile for ethercatcoe.c
EasyCAT 0:543d6784d4cc 9 */
EasyCAT 0:543d6784d4cc 10
EasyCAT 0:543d6784d4cc 11 #ifndef _ethercatcoe_
EasyCAT 0:543d6784d4cc 12 #define _ethercatcoe_
EasyCAT 0:543d6784d4cc 13
EasyCAT 0:543d6784d4cc 14 #ifdef __cplusplus
EasyCAT 0:543d6784d4cc 15 extern "C"
EasyCAT 0:543d6784d4cc 16 {
EasyCAT 0:543d6784d4cc 17 #endif
EasyCAT 0:543d6784d4cc 18
EasyCAT 0:543d6784d4cc 19 /** max entries in Object Description list */
EasyCAT 0:543d6784d4cc 20 #define EC_MAXODLIST 1024
EasyCAT 0:543d6784d4cc 21
EasyCAT 0:543d6784d4cc 22 /** max entries in Object Entry list */
EasyCAT 0:543d6784d4cc 23 #define EC_MAXOELIST 256
EasyCAT 0:543d6784d4cc 24
EasyCAT 0:543d6784d4cc 25 /* Storage for object description list */
EasyCAT 0:543d6784d4cc 26 typedef struct
EasyCAT 0:543d6784d4cc 27 {
EasyCAT 0:543d6784d4cc 28 /** slave number */
EasyCAT 0:543d6784d4cc 29 uint16 Slave;
EasyCAT 0:543d6784d4cc 30 /** number of entries in list */
EasyCAT 0:543d6784d4cc 31 uint16 Entries;
EasyCAT 0:543d6784d4cc 32 /** array of indexes */
EasyCAT 0:543d6784d4cc 33 uint16 Index[EC_MAXODLIST];
EasyCAT 0:543d6784d4cc 34 /** array of datatypes, see EtherCAT specification */
EasyCAT 0:543d6784d4cc 35 uint16 DataType[EC_MAXODLIST];
EasyCAT 0:543d6784d4cc 36 /** array of object codes, see EtherCAT specification */
EasyCAT 0:543d6784d4cc 37 uint8 ObjectCode[EC_MAXODLIST];
EasyCAT 0:543d6784d4cc 38 /** number of subindexes for each index */
EasyCAT 0:543d6784d4cc 39 uint8 MaxSub[EC_MAXODLIST];
EasyCAT 0:543d6784d4cc 40 /** textual description of each index */
EasyCAT 0:543d6784d4cc 41 char Name[EC_MAXODLIST][EC_MAXNAME+1];
EasyCAT 0:543d6784d4cc 42 } ec_ODlistt;
EasyCAT 0:543d6784d4cc 43
EasyCAT 0:543d6784d4cc 44 /* storage for object list entry information */
EasyCAT 0:543d6784d4cc 45 typedef struct
EasyCAT 0:543d6784d4cc 46 {
EasyCAT 0:543d6784d4cc 47 /** number of entries in list */
EasyCAT 0:543d6784d4cc 48 uint16 Entries;
EasyCAT 0:543d6784d4cc 49 /** array of value infos, see EtherCAT specification */
EasyCAT 0:543d6784d4cc 50 uint8 ValueInfo[EC_MAXOELIST];
EasyCAT 0:543d6784d4cc 51 /** array of value infos, see EtherCAT specification */
EasyCAT 0:543d6784d4cc 52 uint16 DataType[EC_MAXOELIST];
EasyCAT 0:543d6784d4cc 53 /** array of bit lengths, see EtherCAT specification */
EasyCAT 0:543d6784d4cc 54 uint16 BitLength[EC_MAXOELIST];
EasyCAT 0:543d6784d4cc 55 /** array of object access bits, see EtherCAT specification */
EasyCAT 0:543d6784d4cc 56 uint16 ObjAccess[EC_MAXOELIST];
EasyCAT 0:543d6784d4cc 57 /** textual description of each index */
EasyCAT 0:543d6784d4cc 58 char Name[EC_MAXOELIST][EC_MAXNAME+1];
EasyCAT 0:543d6784d4cc 59 } ec_OElistt;
EasyCAT 0:543d6784d4cc 60
EasyCAT 0:543d6784d4cc 61 #ifdef EC_VER1
EasyCAT 0:543d6784d4cc 62 void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
EasyCAT 0:543d6784d4cc 63 int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
EasyCAT 0:543d6784d4cc 64 boolean CA, int *psize, void *p, int timeout);
EasyCAT 0:543d6784d4cc 65 int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
EasyCAT 0:543d6784d4cc 66 boolean CA, int psize, void *p, int Timeout);
EasyCAT 0:543d6784d4cc 67 int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
EasyCAT 0:543d6784d4cc 68 int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
EasyCAT 0:543d6784d4cc 69 int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
EasyCAT 0:543d6784d4cc 70 int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
EasyCAT 0:543d6784d4cc 71 int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
EasyCAT 0:543d6784d4cc 72 int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
EasyCAT 0:543d6784d4cc 73 int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
EasyCAT 0:543d6784d4cc 74 int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
EasyCAT 0:543d6784d4cc 75 #endif
EasyCAT 0:543d6784d4cc 76
EasyCAT 0:543d6784d4cc 77 void ecx_SDOerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
EasyCAT 0:543d6784d4cc 78 int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
EasyCAT 0:543d6784d4cc 79 boolean CA, int *psize, void *p, int timeout);
EasyCAT 0:543d6784d4cc 80 int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
EasyCAT 0:543d6784d4cc 81 boolean CA, int psize, void *p, int Timeout);
EasyCAT 0:543d6784d4cc 82 int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
EasyCAT 0:543d6784d4cc 83 int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
EasyCAT 0:543d6784d4cc 84 int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
EasyCAT 0:543d6784d4cc 85 int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize);
EasyCAT 0:543d6784d4cc 86 int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
EasyCAT 0:543d6784d4cc 87 int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
EasyCAT 0:543d6784d4cc 88 int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
EasyCAT 0:543d6784d4cc 89 int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
EasyCAT 0:543d6784d4cc 90
EasyCAT 0:543d6784d4cc 91 #ifdef __cplusplus
EasyCAT 0:543d6784d4cc 92 }
EasyCAT 0:543d6784d4cc 93 #endif
EasyCAT 0:543d6784d4cc 94
EasyCAT 0:543d6784d4cc 95 #endif