AB&T
SOEM EtherCAT Master library for STM Nucleo F767ZI
Dependents: EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB
- This repository contains the SOEM (Simple Open EtherCAT® Master) library by rt-labs, that has been ported in the
ecosystem by AB&T Tecnologie Informatiche.
- It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .
- The EasyCAT LAB is provided as a kit by AB&T Tecnologie Informatiche, to allow everybody to have an educational EtherCAT® system up and running in a matter of minutes.
Warning
- Currently only the Nucleo STM32F767ZI board is supported.
Diff: SOEM/ethercatcoe.h
- Revision:
- 0:543d6784d4cc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SOEM/ethercatcoe.h Tue Jun 11 10:29:09 2019 +0000
@@ -0,0 +1,95 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for ethercatcoe.c
+ */
+
+#ifndef _ethercatcoe_
+#define _ethercatcoe_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** max entries in Object Description list */
+#define EC_MAXODLIST 1024
+
+/** max entries in Object Entry list */
+#define EC_MAXOELIST 256
+
+/* Storage for object description list */
+typedef struct
+{
+ /** slave number */
+ uint16 Slave;
+ /** number of entries in list */
+ uint16 Entries;
+ /** array of indexes */
+ uint16 Index[EC_MAXODLIST];
+ /** array of datatypes, see EtherCAT specification */
+ uint16 DataType[EC_MAXODLIST];
+ /** array of object codes, see EtherCAT specification */
+ uint8 ObjectCode[EC_MAXODLIST];
+ /** number of subindexes for each index */
+ uint8 MaxSub[EC_MAXODLIST];
+ /** textual description of each index */
+ char Name[EC_MAXODLIST][EC_MAXNAME+1];
+} ec_ODlistt;
+
+/* storage for object list entry information */
+typedef struct
+{
+ /** number of entries in list */
+ uint16 Entries;
+ /** array of value infos, see EtherCAT specification */
+ uint8 ValueInfo[EC_MAXOELIST];
+ /** array of value infos, see EtherCAT specification */
+ uint16 DataType[EC_MAXOELIST];
+ /** array of bit lengths, see EtherCAT specification */
+ uint16 BitLength[EC_MAXOELIST];
+ /** array of object access bits, see EtherCAT specification */
+ uint16 ObjAccess[EC_MAXOELIST];
+ /** textual description of each index */
+ char Name[EC_MAXOELIST][EC_MAXNAME+1];
+} ec_OElistt;
+
+#ifdef EC_VER1
+void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
+int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
+ boolean CA, int *psize, void *p, int timeout);
+int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
+ boolean CA, int psize, void *p, int Timeout);
+int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
+int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
+int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
+int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
+int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
+int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
+int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
+int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
+#endif
+
+void ecx_SDOerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
+int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
+ boolean CA, int *psize, void *p, int timeout);
+int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
+ boolean CA, int psize, void *p, int Timeout);
+int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
+int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
+int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
+int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize);
+int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
+int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
+int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
+int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
