EtherCAT coe functions. More...

#include <libosal/types.h>
#include <libosal/mutex.h>
#include "libethercat/common.h"
#include "libethercat/idx.h"
#include "libethercat/pool.h"

Go to the source code of this file.

Data Structures
struct	ec_coe_emergency_message
	Message queue qentry. More...

struct	ec_coe

struct	ec_coe_sdo_desc
	CanOpen over EtherCAT sdo descriptor. More...

struct	ec_coe_sdo_entry_desc

Macros
#define	CANOPEN_MAXNAME (40u)
	CANOPEN maximum name length.

#define	CANOPEN_MAXDATA (128u)
	CANOPEN maximum data length.

#define	EC_COE_SDO_VALUE_INFO_ACCESS_RIGHTS (0x01)
	SDO value info access rights.

#define	EC_COE_SDO_VALUE_INFO_OBJECT_CATEGORY (0x02)
	SDO info object category.

#define	EC_COE_SDO_VALUE_INFO_MAPPABLE (0x04)
	SDO info mappable.

#define	EC_COE_SDO_VALUE_INFO_UNIT (0x08)
	SDO info unit.

#define	EC_COE_SDO_VALUE_INFO_DEFAULT_VALUE (0x10)
	SDO info default value.

#define	EC_COE_SDO_VALUE_INFO_MIN_VALUE (0x20)
	SDO info minimum value.

#define	EC_COE_SDO_VALUE_INFO_MAX_VALUE (0x40)
	SDO info maximum value.

Typedefs
typedef struct ec_coe_emergency_message	ec_coe_emergency_message_t
	Message queue qentry.

typedef struct ec_coe	ec_coe_t
	CoE type.

typedef struct PACKED ec_coe_sdo_desc	ec_coe_sdo_desc_t
	CanOpen over EtherCAT sdo descriptor.

typedef struct PACKED ec_coe_sdo_entry_desc	ec_coe_sdo_entry_desc_t
	CoE SDO entry description type.

typedef struct ec	ec_t
	typedef to ec struct.

Enumerations
enum	{ EC_COE_EMERGENCY = 0x01 , EC_COE_SDOREQ , EC_COE_SDORES , EC_COE_TXPDO , EC_COE_RXPDO , EC_COE_TXPDO_RR , EC_COE_RXPDO_RR , EC_COE_SDOINFO }
	CoE mailbox types. More...

enum	{ EC_COE_SDO_DOWNLOAD_SEQ_REQ = 0x00 , EC_COE_SDO_DOWNLOAD_REQ = 0x01 , EC_COE_SDO_UPLOAD_REQ = 0x02 , EC_COE_SDO_ABORT_REQ = 0x04 }
	service data object command More...

enum	{ EC_COE_SDO_INFO_ODLIST_REQ = 0x01 , EC_COE_SDO_INFO_ODLIST_RESP , EC_COE_SDO_INFO_GET_OBJECT_DESC_REQ , EC_COE_SDO_INFO_GET_OBJECT_DESC_RESP , EC_COE_SDO_INFO_GET_ENTRY_DESC_REQ , EC_COE_SDO_INFO_GET_ENTRY_DESC_RESP , EC_COE_SDO_INFO_ERROR_REQUEST }
	service data object information type More...

enum	{ DEFTYPE_NULL = 0x0000 , DEFTYPE_BOOLEAN = 0x0001 , DEFTYPE_INTEGER8 = 0x0002 , DEFTYPE_INTEGER16 = 0x0003 , DEFTYPE_INTEGER32 = 0x0004 , DEFTYPE_UNSIGNED8 = 0x0005 , DEFTYPE_UNSIGNED16 = 0x0006 , DEFTYPE_UNSIGNED32 = 0x0007 , DEFTYPE_REAL32 = 0x0008 , DEFTYPE_VISIBLESTRING = 0x0009 , DEFTYPE_OCTETSTRING = 0x000A , DEFTYPE_UNICODE_STRING = 0x000B , DEFTYPE_TIME_OF_DAY = 0x000C , DEFTYPE_TIME_DIFFERENCE = 0x000D , DEFTYPE_INTEGER24 = 0x0010 , DEFTYPE_REAL64 = 0x0011 , DEFTYPE_INTEGER40 = 0x0012 , DEFTYPE_INTEGER48 = 0x0013 , DEFTYPE_INTEGER56 = 0x0014 , DEFTYPE_INTEGER64 = 0x0015 , DEFTYPE_UNSIGNED24 = 0x0016 , DEFTYPE_UNSIGNED40 = 0x0018 , DEFTYPE_UNSIGNED48 = 0x0019 , DEFTYPE_UNSIGNED56 = 0x001A , DEFTYPE_UNSIGNED64 = 0x001B , DEFTYPE_GUID = 0x001D , DEFTYPE_BYTE = 0x001E , DEFTYPE_WORD = 0x001F , DEFTYPE_DWORD = 0x0020 , DEFTYPE_PDOMAPPING = 0x0021 , DEFTYPE_IDENTITY = 0x0023 , DEFTYPE_COMMAND = 0x0025 , DEFTYPE_PDOCOMPAR = 0x0027 , DEFTYPE_ENUM = 0x0028 , DEFTYPE_SMPAR = 0x0029 , DEFTYPE_RECORD = 0x002A , DEFTYPE_BACKUP = 0x002B , DEFTYPE_MDP = 0x002C , DEFTYPE_BITARR8 = 0x002D , DEFTYPE_BITARR16 = 0x002E , DEFTYPE_BITARR32 = 0x002F , DEFTYPE_BIT1 = 0x0030 , DEFTYPE_BIT2 = 0x0031 , DEFTYPE_BIT3 = 0x0032 , DEFTYPE_BIT4 = 0x0033 , DEFTYPE_BIT5 = 0x0034 , DEFTYPE_BIT6 = 0x0035 , DEFTYPE_BIT7 = 0x0036 , DEFTYPE_BIT8 = 0x0037 , DEFTYPE_ARRAY_OF_INT = 0x0260 , DEFTYPE_ARRAY_OF_SINT = 0x0261 , DEFTYPE_ARRAY_OF_DINT = 0x0262 , DEFTYPE_ARRAY_OF_UDINT = 0x0263 , DEFTYPE_ERRORHANDLING = 0x0281 , DEFTYPE_DIAGHISTORY = 0x0282 , DEFTYPE_SYNCSTATUS = 0x0283 , DEFTYPE_SYNCSETTINGS = 0x0284 , DEFTYPE_FSOEFRAME = 0x0285 , DEFTYPE_FSOECOMMPAR = 0x0286 }
	datatypes

enum	{ OBJCODE_VAR = 0x07 , OBJCODE_ARR = 0x08 , OBJCODE_REC = 0x09 }

enum	{ ACCESS_READWRITE = 0x003F , ACCESS_READ = 0x0007 , ACCESS_READ_PREOP = 0x0001 , ACCESS_READ_SAFEOP = 0x0002 , ACCESS_READ_OP = 0x0004 , ACCESS_WRITE = 0x0038 , ACCESS_WRITE_PREOP = 0x0008 , ACCESS_WRITE_SAFEOP = 0x0010 , ACCESS_WRITE_OP = 0x0020 }

Functions
void	ec_coe_init (ec_t *pec, osal_uint16_t slave)
	Initialize CoE structure.

void	ec_coe_deinit (ec_t *pec, osal_uint16_t slave)
	deinitialize CoE structure

int	ec_coe_sdo_read (ec_t pec, osal_uint16_t slave, osal_uint16_t index, osal_uint8_t sub_index, int complete, osal_uint8_t buf, osal_size_t len, osal_uint32_t abort_code)
	Read CoE service data object (SDO)

int	ec_coe_master_sdo_read (ec_t pec, osal_uint16_t index, osal_uint8_t sub_index, int complete, osal_uint8_t buf, osal_size_t len, osal_uint32_t abort_code)
	Read CoE service data object (SDO) of master.

int	ec_coe_sdo_write (ec_t pec, osal_uint16_t slave, osal_uint16_t index, osal_uint8_t sub_index, int complete, osal_uint8_t buf, osal_size_t len, osal_uint32_t *abort_code)
	Write CoE service data object (SDO)

int	ec_coe_master_sdo_write (ec_t pec, osal_uint16_t index, osal_uint8_t sub_index, int complete, osal_uint8_t buf, osal_size_t len, osal_uint32_t *abort_code)
	Write CoE service data object (SDO) of master.

int	ec_coe_sdo_desc_read (ec_t pec, osal_uint16_t slave, osal_uint16_t index, ec_coe_sdo_desc_t desc, osal_uint32_t *error_code)
	Read CoE SDO description.

int	ec_coe_master_sdo_desc_read (const ec_t pec, osal_uint16_t index, ec_coe_sdo_desc_t desc, osal_uint32_t *error_code)
	Read CoE SDO description of master.

int	ec_coe_sdo_entry_desc_read (ec_t pec, osal_uint16_t slave, osal_uint16_t index, osal_uint8_t sub_index, osal_uint8_t value_info, ec_coe_sdo_entry_desc_t desc, osal_uint32_t *error_code)
	Read CoE SDO entry description.

int	ec_coe_master_sdo_entry_desc_read (const ec_t pec, osal_uint16_t index, osal_uint8_t sub_index, osal_uint8_t value_info, ec_coe_sdo_entry_desc_t desc, osal_uint32_t *error_code)
	Read CoE SDO entry description of master.

int	ec_coe_odlist_read (ec_t pec, osal_uint16_t slave, osal_uint8_t buf, osal_size_t *len)
	Read CoE object dictionary list.

int	ec_coe_master_odlist_read (ec_t pec, osal_uint8_t buf, osal_size_t *len)
	Read CoE object dictionary list of master.

int	ec_coe_generate_mapping (ec_t *pec, osal_uint16_t slave)
	generate sync manager process data mapping via coe

void	ec_coe_emergency_enqueue (ec_t pec, osal_uint16_t slave, pool_entry_t p_entry)
	queue read mailbox content

int	ec_coe_emergency_get_next (ec_t pec, osal_uint16_t slave, ec_coe_emergency_message_t msg)
	Get next CoE emergency message.

void	ec_coe_enqueue (ec_t pec, osal_uint16_t slave, pool_entry_t p_entry)
	Enqueue CoE message received from slave.

const osal_char_t *	get_sdo_info_error_string (osal_uint32_t errorcode)
	Get SDO INFO error string.

Detailed Description

EtherCAT coe functions.

Author: Robert Burger rober.nosp@m.t.bu.nosp@m.rger@.nosp@m.dlr..nosp@m.de

Date: 22 Nov 2016

Implementaion of the CanOpen over EtherCAT mailbox protocol

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description