canopen.c File Reference

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Detailed Description

Canopen-over-EtherCAT functions.

Definition in file canopen.c.

Go to the source code of this file.

Functions
void	ec_canopen_abort_msg (uint32_t abort_code)
	Outputs an SDO abort message.
int	ec_slave_fetch_sdo_descriptions (ec_slave_t *slave,ec_datagram_t *datagram)
	Fetches the SDO descriptions for the known SDOs.
int	ec_slave_fetch_sdo_entries (ec_slave_t *slave,ec_datagram_t *datagram,ec_sdo_t *sdo,uint8_t subindices)
	Fetches all entries (subindices) to an SDO.
int	ec_slave_sdo_read_exp (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint8_t *target)
	Reads 32 bit of a CANopen SDO in expedited mode.
int	ec_slave_sdo_write_exp (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, const uint8_t *sdo_data, size_t size)
	Writes a CANopen SDO using expedited mode.
int	ecrt_slave_sdo_read (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint8_t *target, size_t *size)
	Reads a CANopen SDO in normal mode.
int	ec_slave_fetch_sdo_list (ec_slave_t *slave)
	Fetches the SDO dictionary of a slave.
int	ecrt_slave_sdo_read_exp8 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint8_t *target)
	Reads an 8-bit SDO in expedited mode.
int	ecrt_slave_sdo_read_exp16 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint16_t *target)
	Reads a 16-bit SDO in expedited mode.
int	ecrt_slave_sdo_read_exp32 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint32_t *target)
	Reads a 32-bit SDO in expedited mode.
int	ecrt_slave_sdo_write_exp8 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint8_t value)
	Writes an 8-bit SDO in expedited mode.
int	ecrt_slave_sdo_write_exp16 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint16_t value)
	Writes a 16-bit SDO in expedited mode.
int	ecrt_slave_sdo_write_exp32 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint32_t value)
	Writes a 32-bit SDO in expedited mode.
Variables
const ec_code_msg_t	sdo_abort_messages []
	SDO abort messages.

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Function Documentation

int ec_slave_fetch_sdo_descriptions (  ec_slave_t *  slave, ec_datagram_t *  datagram )

Fetches the SDO descriptions for the known SDOs. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave datagram  datagram Definition at line 361 of file canopen.c.

int ec_slave_fetch_sdo_entries (  ec_slave_t *  slave, ec_datagram_t *  datagram, ec_sdo_t *  sdo, uint8_t  subindices )

Fetches all entries (subindices) to an SDO. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave datagram  datagram sdo  SDO subindices  number of subindices Definition at line 446 of file canopen.c.

int ec_slave_sdo_read_exp (  ec_slave_t *  slave, uint16_t  sdo_index, uint8_t  sdo_subindex, uint8_t *  target )

Reads 32 bit of a CANopen SDO in expedited mode. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave sdo_index  SDO index sdo_subindex  SDO subindex target  4-byte memory Definition at line 62 of file canopen.c.

int ec_slave_sdo_write_exp (  ec_slave_t *  slave, uint16_t  sdo_index, uint8_t  sdo_subindex, const uint8_t *  sdo_data, size_t  size )

Writes a CANopen SDO using expedited mode. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave sdo_index  SDO index sdo_subindex  SDO subindex sdo_data  new value size  Data size in bytes (1 - 4) Definition at line 121 of file canopen.c.

int ec_slave_fetch_sdo_list (  ec_slave_t *  slave  )

Fetches the SDO dictionary of a slave. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave Definition at line 270 of file canopen.c.

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Variable Documentation

const ec_code_msg_t sdo_abort_messages[]

SDO abort messages. The "abort SDO transfer request" supplies an abort code, which can be translated to clear text. This table does the mapping of the codes and messages. Definition at line 534 of file canopen.c.

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