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

This modules contains functions on how to communicate to the CANOpen over EtherCAT mailbox.

Typedef Documentation

◆ ec_coe_sdo_desc_t

typedef struct PACKED ec_coe_sdo_desc ec_coe_sdo_desc_t

CanOpen over EtherCAT sdo descriptor.

CoE SDO description type.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

CoE mailbox types.

Enumerator
EC_COE_EMERGENCY	emergency message
EC_COE_SDOREQ	service data object request
EC_COE_SDORES	service data object response
EC_COE_TXPDO	transmit PDO
EC_COE_RXPDO	receive PDO
EC_COE_TXPDO_RR	transmit PDO RR
EC_COE_RXPDO_RR	receive PDO RR
EC_COE_SDOINFO	service data object information

◆ anonymous enum

anonymous enum

service data object command

Enumerator
EC_COE_SDO_DOWNLOAD_SEQ_REQ	sdo download seq request
EC_COE_SDO_DOWNLOAD_REQ	sdo download request
EC_COE_SDO_UPLOAD_REQ	sdo upload request
EC_COE_SDO_ABORT_REQ	sdo abort request

◆ anonymous enum

anonymous enum

service data object information type

Enumerator
EC_COE_SDO_INFO_ODLIST_REQ	object dict list request
EC_COE_SDO_INFO_ODLIST_RESP	object dict list response
EC_COE_SDO_INFO_GET_OBJECT_DESC_REQ	object description request
EC_COE_SDO_INFO_GET_OBJECT_DESC_RESP	object description response
EC_COE_SDO_INFO_GET_ENTRY_DESC_REQ	entry description request
EC_COE_SDO_INFO_GET_ENTRY_DESC_RESP	entry description response
EC_COE_SDO_INFO_ERROR_REQUEST	error request

◆ anonymous enum

anonymous enum

Enumerator
OBJCODE_VAR	Object code VARIABLE.
OBJCODE_ARR	Object code ARRAY.
OBJCODE_REC	Object code RECORD.

◆ anonymous enum

anonymous enum

Enumerator
ACCESS_READWRITE	Read/write in all states.
ACCESS_READ	Read only in all states.
ACCESS_READ_PREOP	Read only in PreOP.
ACCESS_READ_SAFEOP	Read only in SafeOP.
ACCESS_READ_OP	Read only in OP.
ACCESS_WRITE	Write only in all states.
ACCESS_WRITE_PREOP	Write only in PreOP.
ACCESS_WRITE_SAFEOP	Write only in SafeOP.
ACCESS_WRITE_OP	Write only in OP.

Function Documentation

◆ ec_coe_deinit()

void ec_coe_deinit	(	ec_t *	pec,
		osal_uint16_t	slave
	)

deinitialize CoE structure

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

◆ ec_coe_emergency_enqueue()

void ec_coe_emergency_enqueue	(	ec_t *	pec,
		osal_uint16_t	slave,
		pool_entry_t *	p_entry
	)

queue read mailbox content

Parameters

[in]	pec	Pointer to ethercat master struct.
[in]	slave	Number of EtherCAT slave connected to bus.
[in]	p_entry	Emergency message to enqueue.

◆ ec_coe_emergency_get_next()

int ec_coe_emergency_get_next	(	ec_t *	pec,
		osal_uint16_t	slave,
		ec_coe_emergency_message_t *	msg
	)

Get next CoE emergency message.

Parameters

[in]	pec	Pointer to EtherCAT mater struct.
[in]	slave	Number of EtherCAT slave connected to bus.
[out]	msg	Pointer to return emergency message.

Returns: EC_OK on success, errorcode otherwise

◆ ec_coe_enqueue()

void ec_coe_enqueue	(	ec_t *	pec,
		osal_uint16_t	slave,
		pool_entry_t *	p_entry
	)

Enqueue CoE message received from slave.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	p_entry	Pointer to pool entry containing received mailbox message from slave.

Return values

EC_ERROR_UNAVAILABLE	No more emergency message in queue.
EC_OK	Success, got next emergency message.

◆ ec_coe_generate_mapping()

int ec_coe_generate_mapping	(	ec_t *	pec,
		osal_uint16_t	slave
	)

generate sync manager process data mapping via coe

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_MAILBOX_TIMEOUT	Got timeout waiting for message.
EC_ERROR_UNAVAILABLE	Locking mailbox failed for some reason.
EC_ERROR_MAILBOX_NOT_SUPPORTED_COE	No CoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_SEND_BUFFERS	No more free send buffer available.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.
EC_ERROR_MAILBOX_READ	Got unexpected message on CoE read.

◆ ec_coe_init()

void ec_coe_init	(	ec_t *	pec,
		osal_uint16_t	slave
	)

Initialize CoE structure.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

◆ ec_coe_master_odlist_read()

int ec_coe_master_odlist_read	(	ec_t *	pec,
		osal_uint8_t *	buf,
		osal_size_t *	len
	)

Read CoE object dictionary list of master.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[out]	buf	Pointer to a preallocated buffer.
[in,out]	len	Length of buffer, outputs read length.

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_MAILBOX_COE_INDEX_NOT_FOUND	Requested index not found.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.
EC_ERROR_MAILBOX_BUFFER_TOO_SMALL	Provided buffer was too small, returning size in `len`.

◆ ec_coe_master_sdo_desc_read()

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.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	index	CoE SDO index number.
[out]	desc	Returns CoE SDO description.
[out]	error_code	Returns the error code if we got one.

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_MAILBOX_COE_INDEX_NOT_FOUND	Requested index not found.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.

◆ ec_coe_master_sdo_entry_desc_read()

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.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	index	CoE SDO index number.
[in]	sub_index	CoE SDO sub index number.
[in]	value_info	Bitset which description values you want to get
[in]	desc	Return CoE entry description.
[out]	error_code	Returns the error code if we got one.

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_MAILBOX_COE_INDEX_NOT_FOUND	Requested index not found.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.

◆ ec_coe_master_sdo_read()

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.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	index	CoE SDO index number.
[in]	sub_index	CoE SDO sub index number.
[in]	complete	SDO Complete access (only if `sub_index` == 0)
[out]	buf	Buffer where to store the answer. User supplied pointer to a buffer. If buffer is too small an error code is returned and the needed length is stored in 'len'.
[in,out]	len	Length of buffer, outputs read length.
[out]	abort_code	Returns the abort code if we got abort request

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_MAILBOX_COE_INDEX_NOT_FOUND	Requested index not found.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.

◆ ec_coe_master_sdo_write()

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.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	index	CoE SDO index number.
[in]	sub_index	CoE SDO sub index number.
[in]	complete	SDO Complete access (only if `sub_index` == 0)
[in]	buf	Buffer with data which will be written.
[in]	len	Length of buffer.
[out]	abort_code	Returns the abort code if we got abort request

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_MAILBOX_COE_INDEX_NOT_FOUND	Requested index not found.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.

◆ ec_coe_odlist_read()

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.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[out]	buf	Pointer to a preallocated buffer.
[in,out]	len	Length of buffer, outputs read length.

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_UNAVAILABLE	Locking mailbox failed for some reason.
EC_ERROR_MAILBOX_NOT_SUPPORTED_COE	No CoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_SEND_BUFFERS	No more free send buffer available.
EC_ERROR_MAILBOX_TIMEOUT	Got timeout waiting for message.
EC_ERROR_MAILBOX_BUFFER_TOO_SMALL	Provided buffer was too small, returning size in `len`.

◆ ec_coe_sdo_desc_read()

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.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	index	CoE SDO index number.
[out]	desc	Returns CoE SDO description.
[out]	error_code	Returns the error code if we got one.

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_UNAVAILABLE	Locking mailbox failed for some reason.
EC_ERROR_MAILBOX_NOT_SUPPORTED_COE	No CoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_SEND_BUFFERS	No more free send buffer available.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.
EC_ERROR_MAILBOX_READ	Got unexpected message on CoE read.

◆ ec_coe_sdo_entry_desc_read()

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.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	index	CoE SDO index number.
[in]	sub_index	CoE SDO sub index number.
[in]	value_info	Bitset which description values you want to get
[in]	desc	Return CoE entry description.
[out]	error_code	Returns the error code if we got one.

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_UNAVAILABLE	Locking mailbox failed for some reason.
EC_ERROR_MAILBOX_NOT_SUPPORTED_COE	No CoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_SEND_BUFFERS	No more free send buffer available.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.
EC_ERROR_MAILBOX_READ	Got unexpected message on CoE read.

◆ ec_coe_sdo_read()

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)

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	index	CoE SDO index number.
[in]	sub_index	CoE SDO sub index number.
[in]	complete	SDO Complete access (only if `sub_index` == 0)
[out]	buf	Buffer where to store the answer. User supplied pointer to a buffer. If buffer is too small an error code is returned and the needed length is stored in 'len'.
[in,out]	len	Length of buffer, outputs read length.
[out]	abort_code	Returns the abort code if we got abort request

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_MAILBOX_READ	Got unexpected message on CoE read.
EC_ERROR_MAILBOX_BUFFER_TOO_SMALL	Provided buffer was too small, returning size in `len`.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.
EC_ERROR_MAILBOX_OUT_OF_SEND_BUFFERS	No more free send buffer available.
EC_ERROR_MAILBOX_NOT_SUPPORTED_COE	No CoE support on slave's mailbox.
EC_ERROR_UNAVAILABLE	Locking mailbox failed for some reason.
EC_ERROR_MAILBOX_TIMEOUT	Got timeout waiting for message.

◆ ec_coe_sdo_write()

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)

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	index	CoE SDO index number.
[in]	sub_index	CoE SDO sub index number.
[in]	complete	SDO Complete access (only if `sub_index` == 0)
[in]	buf	Buffer with data which will be written.
[in]	len	Length of buffer.
[out]	abort_code	Returns the abort code if we got abort request

Return values

EC_OK	CoE transfer was successfull.
EC_ERROR_UNAVAILABLE	Locking mailbox failed for some reason.
EC_ERROR_MAILBOX_NOT_SUPPORTED_COE	No CoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_SEND_BUFFERS	No more free send buffer available.
EC_ERROR_MAILBOX_TIMEOUT	Got timeout waiting for message.
EC_ERROR_MAILBOX_ABORT	Got SDO abort request.
EC_ERROR_MAILBOX_READ	Got unexpected message on CoE read.

◆ get_sdo_info_error_string()

const osal_char_t * get_sdo_info_error_string ( osal_uint32_t errorcode )

Get SDO INFO error string.

Parameters

[in] errorcode Error code number.

Returns: string with decoded error.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ ec_coe_sdo_desc_t

Enumeration Type Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Function Documentation

◆ ec_coe_deinit()

◆ ec_coe_emergency_enqueue()

◆ ec_coe_emergency_get_next()

◆ ec_coe_enqueue()

◆ ec_coe_generate_mapping()

◆ ec_coe_init()

◆ ec_coe_master_odlist_read()

◆ ec_coe_master_sdo_desc_read()

◆ ec_coe_master_sdo_entry_desc_read()

◆ ec_coe_master_sdo_read()

◆ ec_coe_master_sdo_write()

◆ ec_coe_odlist_read()

◆ ec_coe_sdo_desc_read()

◆ ec_coe_sdo_entry_desc_read()

◆ ec_coe_sdo_read()

◆ ec_coe_sdo_write()

◆ get_sdo_info_error_string()