soe.h File Reference

EtherCAT SoE functions. More...

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

Go to the source code of this file.

Data Structures
struct	ec_soe
struct	ec_soe_idn_attribute
	ServoDrive attributes of an IDN. More...

Typedefs
typedef struct ec_soe	ec_soe_t
	SoE mailbox struct type.
typedef struct PACKED ec_soe_idn_attribute	ec_soe_idn_attribute_t
	ServoDrive attributes of an IDN.

Enumerations
enum	ec_soe_element {   EC_SOE_DATASTATE = 0x01 , EC_SOE_NAME = 0x02 , EC_SOE_ATTRIBUTE = 0x04 , EC_SOE_UNIT = 0x08 ,   EC_SOE_MIN = 0x10 , EC_SOE_MAX = 0x20 , EC_SOE_VALUE = 0x40 , EC_SOE_DEFAULT = 0x80 }
	ServoDrive elements of an IDN. More...

Functions
void	ec_soe_init (ec_t *pec, osal_uint16_t slave)
	initialize SoE structure
void	ec_soe_deinit (ec_t *pec, osal_uint16_t slave)
	deinitialize SoE structure
void	ec_soe_enqueue (ec_t *pec, osal_uint16_t slave, pool_entry_t *p_entry)
	Enqueue SoE message received from slave.
int	ec_soe_read (ec_t *pec, osal_uint16_t slave, osal_uint8_t atn, osal_uint16_t idn, osal_uint8_t *elements, osal_uint8_t *buf, osal_size_t *len)
	Read elements of soe ID number.
int	ec_soe_write (ec_t *pec, osal_uint16_t slave, osal_uint8_t atn, osal_uint16_t idn, osal_uint8_t elements, osal_uint8_t *buf, osal_size_t len)
	Write elements of soe ID number.
int	ec_soe_generate_mapping (ec_t *pec, osal_uint16_t slave)
	Generate sync manager process data mapping via soe.

Detailed Description

EtherCAT SoE functions.

Author

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

Date

25 Nov 2016

Implementaion of the Servodrive over EtherCAT mailbox protocol