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ethercatsoe.c File Reference
Typedefs | Functions

ethercatsoe.c File Reference

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

Go to the source code of this file.

Typedefs

typedef PACKED_BEGIN struct PACKED ec_SoEt
 SoE (Servo over EtherCAT) mailbox structure.

Functions

PACKED_END void ecx_SoEerror (ecx_contextt *context, uint16 Slave, uint16 idn, uint16 Error)
 Report SoE error.
int ecx_SoEread (ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)
 SoE read, blocking.
int ecx_SoEwrite (ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)
 SoE write, blocking.
int ecx_readIDNmap (ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
 SoE read AT and MTD mapping.

Detailed Description

Servo over EtherCAT (SoE) Module.

Definition in file ethercatsoe.c.

Typedef Documentation

typedef PACKED_BEGIN struct PACKED ec_SoEt

SoE (Servo over EtherCAT) mailbox structure.

Function Documentation

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.

Definition at line 312 of file ethercatsoe.c.

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

Definition at line 47 of file ethercatsoe.c.

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

Definition at line 78 of file ethercatsoe.c.

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

Definition at line 200 of file ethercatsoe.c.

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