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EtherCAT Slave
1.08.00
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ECATSLV_API void EC_API_SLV_cbRegisterStartMbxHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBStartMbxHandler_t cbFunc_p)
This is the function to register a function which starts the mailbox handler.
Definition: ecSlvApi_ESMStub.c:166
ECATSLV_API uint32_t EC_API_SLV_setState(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_EEsmState_t state_p)
This is the function to request a EtherCAT state.
Definition: ecSlvApiStub.c:1012
#define OBD_FOLLOWING_ERROR_TIMEOUT_INDEX(x)
Definition: ecApiDef.h:566
uint8_t(* EC_API_SLV_CBObjWrite_t)(void *pContext_p, uint16_t index_p, uint8_t subindex_p, uint32_t length_p, uint16_t *pData_p, uint8_t completeAccess_p)
Callback trigered by a SDO Download operation.
Definition: ecSlvApi.h:457
uint32_t EC_API_SLV_setProductName(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pProductName_p)
Set device product name.
Definition: ecSlvApi_ParamStub.c:276
ECATSLV_API char * EC_API_SLV_getSwVersion(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get serial number.
Definition: ecSlvApi_ParamStub.c:1006
uint32_t EC_API_SLV_setGroupType(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pGroupType_p)
Set device group type.
Definition: ecSlvApi_ParamStub.c:323
@ EC_API_eERR_EVALUATION_MODE
Definition: ecApiError.h:122
@ EC_API_SLV_ePRUICSS_INSTANCE_TWO
Definition: ecSlvApi.h:74
uint32_t EC_API_SLV_CoE_setObjectData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint32_t length_p, uint16_t *pData_p)
This function writes Data to the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:188
void(* EC_API_SLV_CBStopMbxHandler_t)(void *pContext_p)
User defined function. Called when mailbox handler is stopped.
Definition: ecSlvApi.h:261
uint8_t foE_Details
Definition: ecSlvApi_Eeprom.h:88
#define OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:626
uint32_t cycleTime
Motion controller cycletime in us.
Definition: ESL_cia402Demo.c:74
@ EC_USR_eRET_NOERROR_INWORK
Indication for no error but operation is pending.
Definition: ecSlvApi.h:84
uint32_t EC_API_SLV_PDO_setEntryData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint8_t subIndex_p, uint32_t length_p, uint8_t *pData_p)
Write data to an individual PDO Entry Variable.
Definition: ecSlvApi_ProcDataStub.c:408
Definition: ecSlvApi_Eeprom.h:115
#define SLOW_DOWN_RAMP
Slow down ramp (options: 0x605B; 0x605C; 0x605E)
Definition: ecApiDef.h:525
#define OBD_MAX_ACCELERATION_INDEX(x)
Definition: ecApiDef.h:620
void(* EC_API_SLV_CiA402_CBUsrApplApplication_t)(void *pContext_p)
User application slot (control)
Definition: ecSlvApi.h:754
char ac8Name[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:99
uint8_t coE_Details
Definition: ecSlvApi_Eeprom.h:87
uint8_t id
Axis Identification.
Definition: ESL_cia402Demo.c:114
EC_API_EError_t EC_SLV_APP_populateRxPDO(EC_SLV_APP_Sapplication_t *pApplicationInstance_p)
Configure RX PDO entries.
Definition: ecSlvSimple.c:1598
EC_SLV_APP_sCIA_objectEntry_t positionLimitMax
Definition: ecSlvCiA402.h:147
#define DISABLE_DRIVE
Disable drive (options: 0x605B; 0x605C; 0x605E)
Definition: ecApiDef.h:524
uint8_t imgIdx
Definition: ecSlvApi_Eeprom.h:83
#define OBD_HOMING_METHOD_INDEX(x)
Definition: ecApiDef.h:604
#define OBD_ABORT_CONNECTION_OPTION_CODE_INDEX(x)
Definition: ecApiDef.h:548
uint16_t reserved0[2]
Definition: ecSlvApi_Eeprom.h:162
EC_API_SLV_SCoE_Object_t * pt2007RecObj
Definition: ecSlvSimple.h:89
@ EC_API_SLV_eERR_DEVICE_PROFILE_ERROR
Profile error.
Definition: ecSlvApi.h:121
uint32_t EC_API_SLV_stackInit(void)
This is the function to initialize Stack backend.
Definition: ecSlvApiStub.c:491
ECATSLV_API uint32_t EC_API_SLV_PDO_enable(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p)
Enable PDO assignment to the syncManager.
Definition: ecSlvApi_ProcDataStub.c:1308
enum EC_API_SLV_EErrorRegister EC_API_SLV_EErrorRegister_t
EC_DEVERROR_T Error register values. Object Dictionary Index 0x1001.
char ac8Name[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:124
uint8_t FMMU0
Definition: ecSlvApi_Eeprom.h:108
ECATSLV_API void EC_API_SLV_FoE_cbRegisterFwUpdate(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_FoE_CBFwUpdateHandler_t cbFunc_p)
This is the function to register FoE firmware update function.
Definition: ecSlvApi_FoEStub.c:250
ECATSLV_API uint32_t EC_API_SLV_setInputData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, uint8_t *pInputData_p)
Write input process data to the EtherCAT Master.
Definition: ecSlvApi_ProcDataStub.c:797
#define OBD_VELOCITY_WINDOW_TIME_INDEX(x)
Definition: ecApiDef.h:574
uint8_t i8uSubIdx
Definition: ecSlvApi_EsiParser.h:104
uint32_t EC_API_SLV_CoE_odAddArray(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, char *pName_p, uint8_t arrayLen_p, uint16_t type_p, uint16_t bitLen_p, uint16_t flags_p, EC_API_SLV_CBObjRead_t cbRead_p, void *pReadCtxt_p, EC_API_SLV_CBObjWrite_t cbWrite_p, void *pWriteCtxt_p)
Definition: ecSlvApi_CoEStub.c:679
void EC_API_SLV_cbRegisterUserApplicationRun(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBUsrApplicationRun_t cbFunc_p, void *pApplCtxt_p)
This is the function to register a function which runs application run handler.
Definition: ecSlvApi_ESMStub.c:120
uint32_t EC_API_SLV_CoE_odAddVariable(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, char *pName_p, uint16_t type_p, uint16_t bitLen_p, uint16_t flags_p, EC_API_SLV_CBObjRead_t cbRead_p, void *pReadCtxt_p, EC_API_SLV_CBObjWrite_t cbWrite_p, void *pWriteCtxt_p)
This function creates a Base Data Type Object for the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:624
#define OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:570
EC_SLV_APP_sCIA_object_t swPositionLimitIndex
Definition: ecSlvCiA402.h:110
ECATSLV_API void EC_API_SLV_writeDoubleWordEscRegister(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t escAddress_p, uint32_t value_p)
Definition: ecSlvApiStub.c:1320
uint8_t * pdRxBuffer
Definition: ecSlvCiA402.h:201
uint16_t categoryWordSize
Definition: ecSlvApi_Eeprom.h:107
#define OBD_POSITION_WINDOW_INDEX(x)
Definition: ecApiDef.h:567
struct kbEcCfg_SObjectInfo * ptSubItem
Definition: ecSlvApi_EsiParser.h:103
@ EC_API_eERR_NO_INPUT_PROC_IMAGE
Definition: ecApiError.h:105
#define CONTROLWORD_COMMAND_SWITCHON
Switch on command.
Definition: ecApiDef.h:279
ECATSLV_API uint32_t EC_API_SLV_getVersionStr(uint32_t bufLen_p, char *pBuffer_p, uint32_t *pUsedLen_p)
Get version string.
Definition: ecSlvApiStub.c:180
void EC_SLV_APP_CSP(EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets)
Cyclic synchronous position mode. ETG6010 6.2.
Definition: ESL_cia402Demo.c:693
@ EC_API_eERR_GROUP_TYPE_NOT_SET
Definition: ecApiError.h:123
uint32_t EC_SLV_APP_setSupportedDriveModes(EC_SLV_APP_Sapplication_t *pApplication_p)
Set supported drive modes.
Definition: ESL_cia402Demo.c:398
uint8_t * pdTxBuffer
Definition: ecSlvCiA402.h:202
uint8_t flags
Definition: ecSlvApi_Eeprom.h:93
@ EC_API_SLV_eDT_SERVO_DRIVE
The device supports CiA402 for a servo drive.
Definition: ecSlvApi.h:105
Definition: ecSlvApi_EsiParser.h:243
uint16_t pdoOffset
Definition: ecSlvCiA402.h:64
uint8_t i8uSubIdxCount
Definition: ecSlvApi_EsiParser.h:83
ECATSLV_API uint32_t EC_API_SLV_getCyclicStatus(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This function reads if there is any error cyclic communication error.
Definition: ecSlvApiStub.c:891
void *(* EC_API_SLV_CBPreSeqInputPD_t)(void *pContext_p, uint32_t length_p)
Register external Input Process Data Buffer.
Definition: ecSlvApi.h:347
@ EC_API_eERR_BUSY
Definition: ecApiError.h:71
uint32_t EC_API_SLV_preSeqInputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, void **ppInProcData_p)
Acquire process data input buffer (TX)
Definition: ecSlvApi_ProcDataStub.c:1047
enum EC_API_SLV_EDevType EC_API_SLV_EDevType_t
EC_API_SLV_EDevType_t EtherCAT Device Type. Object Dictionary Index 0x1001.
#define OBD_MODES_OF_OPERATION_DISPLAY_INDEX(x)
Definition: ecApiDef.h:560
#define DEFTYPE_INTEGER16
INTEGER16.
Definition: ecApiDef.h:67
#define OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:624
uint16_t i16uBitSize
Definition: ecSlvApi_EsiParser.h:111
uint32_t EC_API_SLV_PDO_getEntryDataLength(EC_API_SLV_SPdo_t *pPdo_p, uint8_t subIndex_p)
Read PDO entry data length.
Definition: ecSlvApi_ProcDataStub.c:753
uint32_t EC_API_SLV_CoE_getObjectEntry(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, uint8_t subIndex_p, EC_API_SLV_SCoE_ObjEntry_t **ppObjectEntry_p)
This function returns object entries from the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:325
EC_SLV_APP_sCIA_object_t positionActualValueIndex
Definition: ecSlvCiA402.h:90
char ac8Name[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:67
#define OBD_MODES_OF_OPERATION_INDEX(x)
Definition: ecApiDef.h:559
uint16_t EC_API_SLV_readWordEscRegister(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t escAddress_p)
This is the function reads a byte from ESC Register.
Definition: ecSlvApiStub.c:1145
Definition: ecSlvApi_EsiParser.h:128
void(* EC_API_SLV_CBPostSeqInputPD_t)(void *pContext_p, void *pData_p, uint32_t length_p)
Register external Release Input Process Data Buffer Function.
Definition: ecSlvApi.h:383
EC_API_SLV_SCoE_Object_t * ptRecObjOut
Definition: ecSlvSimple.h:87
@ EC_API_eERR_FW_ERR_MEM_OVERFLOW
Definition: ecApiError.h:108
uint8_t reserved
Definition: ecSlvApi_Eeprom.h:86
uint8_t statusRegister
Definition: ecSlvApi_Eeprom.h:120
clock_t prev
Definition: ecSlvSimple.h:85
#define OBJACCESS_TXPDOMAPPING
Mappable in TxPDOs.
Definition: ecApiDef.h:143
#define DEFTYPE_INTEGER8
INTEGER8.
Definition: ecApiDef.h:66
enum EC_API_EError EC_API_EError_t
@ EC_API_eERR_PRODUCT_CODE_NOT_SET
Definition: ecApiError.h:98
uint32_t EC_API_SLV_readDoubleWordEscRegister(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t escAddress_p)
This is the function reads a byte from ESC Register.
Definition: ecSlvApiStub.c:1190
uint32_t vendorID
Definition: ecSlvApi_Eeprom.h:165
#define OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:627
#define OBD_TARGET_POSITION_INDEX(x)
Definition: ecApiDef.h:583
uint8_t i8uSyncMan
Definition: ecSlvApi_EsiParser.h:139
uint32_t EC_API_SLV_delete(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This is the function to delete a created adapter.
Definition: ecSlvApiStub.c:628
void EC_SLV_APP_registerStacklessBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Register PHYs.
Definition: ecSlvCiA402.c:930
uint8_t numberOfStrings
Definition: ecSlvApi_Eeprom.h:74
@ EC_API_SLV_eERR_GENERIC_ERROR
Generic error.
Definition: ecSlvApi.h:116
void * ioexpLedHandle
Definition: ecSlvSimple.h:74
struct kbEcCfg_SDataType * next
Definition: ecSlvApi_EsiParser.h:85
uint16_t version
Definition: ecSlvApi_Eeprom.h:190
EC_SLV_APP_sCIA_object_t supportedDriveModesIndex
Definition: ecSlvCiA402.h:145
ECATSLV_API void EC_API_SLV_SSC_setLicense(char *pLicense_p, uint8_t length_p)
Enter license key to run the unlimited version.
Definition: ecSlvApiStub.c:133
@ EC_API_eERR_SKIP
Definition: ecApiError.h:77
@ EC_API_eERR_OBJECT_DICT_CREATE
Definition: ecApiError.h:96
@ EC_USR_eRET_ERROR
Unspecified error occurred.
Definition: ecSlvApi.h:83
EC_API_SLV_EEP_ECat_type_t categoryType
Definition: ecSlvApi_Eeprom.h:72
@ EC_API_SLV_eERR_NO_ERROR
No error.
Definition: ecSlvApi.h:115
ECATSLV_API void EC_API_SLV_cbRegisterPostSeqInputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBPostSeqInputPD_t cbFunc_p)
This is the function to register a function which releases an external Process data buffer.
Definition: ecSlvApi_ProcDataStub.c:959
#define OBD_SHUTDOWN_INDEX(x)
Definition: ecApiDef.h:554
uint16_t executionDelay
Definition: ecSlvApi_Eeprom.h:171
ECATSLV_API uint32_t EC_API_SLV_CoE_subIdx0WrFlag(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, bool readWriteFlag_p)
Set write flag to SubIndex 0.
Definition: ecSlvApi_CoEStub.c:826
uint16_t pdoOutLen
Definition: ecSlvCiA402.h:199
#define OBD_STATUSWORD_INDEX(x)
Definition: ecApiDef.h:551
EC_API_SLV_SCoE_Object_t * pSdo
Definition: ecSlvCiA402.h:60
uint32_t EC_API_SLV_getInputProcDataLength(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Read the input process data length.
Definition: ecSlvApi_ProcDataStub.c:636
EC_API_SLV_SPdo_t * ptRxPdo1601
Definition: ecSlvSimple.h:93
ECATSLV_API uint32_t EC_API_SLV_CoE_getObjectType(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint8_t *pType_p)
This function returns the type flag of the object.
Definition: ecSlvApi_CoEStub.c:277
ECATSLV_API void EC_API_SLV_writeByteEscRegister(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t escAddress_p, uint8_t value_p)
Definition: ecSlvApiStub.c:1234
ECATSLV_API uint32_t EC_API_SLV_CoE_getObjectEntryCount(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint8_t *pCount_p)
This function returns the number of entries of a object.
Definition: ecSlvApi_CoEStub.c:233
uint32_t(* EC_API_SLV_FoE_CBCloseFileHandler_t)(void *pContext_p, uint32_t errorCode_p)
Close FoE File callback.
Definition: ecSlvApi.h:582
Definition: ecSlvApi_EsiParser.h:75
uint32_t EC_API_SLV_setSyncManConfig(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint8_t syncManIdx_p, uint16_t offset_p, uint16_t size_p, uint8_t control_p, uint8_t enable_p)
Set SyncManager Configuration.
Definition: ecSlvApi_ParamStub.c:650
void(* EC_API_SLV_CBStopInputHandler_t)(void *pContext_p)
User defined function. Called when input handler is stopped.
Definition: ecSlvApi.h:296
Data structure to handle an CiA 402 axis.
Definition: ESL_cia402Demo.c:64
@ EC_API_eERR_READ_ONLY
Definition: ecApiError.h:95
@ EC_API_eERR_XML_PARSE_INV_STATE
Definition: ecApiError.h:115
#define OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX(x)
Definition: ecApiDef.h:629
uint32_t revisionNo
Definition: ecSlvApi_Eeprom.h:167
uint32_t EC_SLV_APP_getCiA402ObjectValue(EC_SLV_APP_Sapplication_t *pApplication_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint16_t length_p, uint16_t *pValue_p)
Read CiA402 Objects.
Definition: ESL_cia402Demo.c:184
#define OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX(x)
Definition: ecApiDef.h:625
Definition: ecSlvCiA402.h:67
#define OBD_VELOCITY_DEMAND_VALUE_INDEX(x)
Definition: ecApiDef.h:571
EC_API_SLV_SCoE_Object_t * pt2002RecObj
Definition: ecSlvSimple.h:88
uint8_t rsvd[3]
Definition: ecSlvSimple.h:84
ECATSLV_API uint32_t EC_API_SLV_getSerialNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get serial number.
Definition: ecSlvApi_ParamStub.c:871
uint16_t port1Delay
Definition: ecSlvApi_Eeprom.h:173
ECATSLV_API uint32_t EC_API_SLV_CoE_generateObjectDict(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Generate Object Dictionary.
Definition: ecSlvApi_CoEStub.c:573
void EC_SLV_APP_applicationDeInit(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Deinitialize application.
Definition: ecSlvCiA402.c:1108
@ EC_API_eERR_XML_CREATE_PDO_ENTRY
Definition: ecApiError.h:119
uint8_t i8uBitSize
Definition: ecSlvApi_EsiParser.h:121
#define ABORT_NOERROR
No SDO error.
Definition: ecApiDef.h:156
uint16_t pdiConfiguration2
Definition: ecSlvApi_Eeprom.h:159
uint32_t EC_API_SLV_setBootStrapMailbox(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t rxOffset_p, uint16_t rxSize_p, uint16_t txOffset_p, uint16_t txSize_p)
Set Bootstrap Mailbox Configuration.
Definition: ecSlvApi_ParamStub.c:557
uint16_t categoryWordSize
Definition: ecSlvApi_Eeprom.h:81
#define ACCESS_READWRITE
Read/write in all states.
Definition: ecApiDef.h:132
bool lowLevelPowerApplied
Low-level power applied.
Definition: ESL_cia402Demo.c:68
@ EC_API_eERR_XML_CREATE_PDO
Definition: ecApiError.h:117
EC_API_SLV_EEP_ECat_type_t catType
Definition: ecSlvApi_Eeprom.h:106
@ EC_API_eERR_FW_ERR_OPEN_FAILED
Definition: ecApiError.h:107
ECATSLV_API uint32_t EC_API_SLV_EoE_sendFrame(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t length_p, uint8_t *pData_p)
This is the function to send EoE frames.
Definition: ecSlvApi_EoEStub.c:168
#define OBD_HALT_OPTION_CODE_INDEX(x)
Definition: ecApiDef.h:556
uint16_t pdoInLen
Definition: ecSlvCiA402.h:200
EC_API_SLV_EPRUICSS_MaxInstances
PRUICSS Instance IDs.
Definition: ecSlvApi.h:71
Definition: ecSlvApi_EsiParser.h:213
bool bCiA402
Definition: ecSlvApi_EsiParser.h:153
ECATSLV_API void EC_API_SLV_phyRegWrite(void *pStackContext_p, uint32_t regNum_p, uint16_t wrVal_p)
Definition: ecSlvApi_BoardStub.c:226
void EC_SLV_APP_CSV(EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets)
Cyclic synchronous velocity mode. ETG6010 6.3.
Definition: ESL_cia402Demo.c:652
void * mainThreadHandle
Definition: ecSlvSimple.h:67
Definition: ecSlvApi_EsiParser.h:134
#define CONTROLWORD_COMMAND_ENABLEOPERATION
Enable operation command.
Definition: ecApiDef.h:284
bool EC_SLV_APP_transitionAction(int16_t characteristic_p)
This function shall calculate the desired Axis input values to move on a predefined ramp.
Definition: ESL_cia402Demo.c:558
#define QUICKSTOP_RAMP_NO_TRANSIT
Slow down on quick stop ramp and stay in Quick Stop Active.
Definition: ecApiDef.h:537
Definition: ecSlvApi_EsiParser.h:147
#define OBD_FOLLOWING_ERROR_WINDOW_INDEX(x)
Definition: ecApiDef.h:565
#define OBD_TORQUE_OFFSET_INDEX(x)
Definition: ecApiDef.h:610
uint32_t EC_SLV_APP_setCiA402ObjectValue(EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_APP_sCIA_object_t *pCiaObject_p, uint16_t length_p, uint16_t *pValue_p)
Write CiA402 Object value.
Definition: ESL_cia402Demo.c:237
enum EC_API_SLV_EUserRetCodeserRetCodes EC_API_SLV_EUserRetCodes_t
EC_RETCODE_T Error codes used during EtherCAT State Machine transitions.
#define OBD_TOUCH_PROBE_FUNCTION_INDEX(x)
Definition: ecApiDef.h:612
#define VOLTAGE_LIMIT_NO_TRANSIT
Slow down on voltage limit and stay in Quick Stop Active.
Definition: ecApiDef.h:539
uint32_t i32uDefaultValue
Definition: ecSlvApi_EsiParser.h:102
#define OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX(x)
Definition: ecApiDef.h:617
#define DEFTYPE_INTEGER32
INTEGER32.
Definition: ecApiDef.h:68
uint32_t EC_API_SLV_CoE_getObjectData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint32_t length_p, uint16_t *pData_p)
This function read the object data from the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:138
void EC_API_SLV_prepareTasks(OSAL_TASK_EPriority_t pdiTaskPrio_p, OSAL_TASK_EPriority_t statusLEDTaskPrio_p, OSAL_TASK_EPriority_t sync0TaskPrio_p, OSAL_TASK_EPriority_t sync1TaskPrio_p, OSAL_TASK_EPriority_t eoeTaskPrio_p)
Prepare internal task priorities.
Definition: ecSlvApiStub.c:449
uint16_t pdiControl
Definition: ecSlvApi_Eeprom.h:155
@ EC_API_eERR_EMERGENCY_QUEUE_FULL
Definition: ecApiError.h:93
uint32_t i32uLevel
Definition: ecSlvApi_EsiParser.h:216
@ EC_API_eERR_RX_PROC_IMG_OVERFLOW
Definition: ecApiError.h:88
@ EC_API_eERR_COE_OBJ_INDEX_EXISTS
Definition: ecApiError.h:120
uint16_t physicalMemAddr
Definition: ecSlvApi_Eeprom.h:98
uint8_t sYSmanClass
Definition: ecSlvApi_Eeprom.h:92
void(* EC_API_SLV_CiA402_CBUsrApplSetDictValues_t)(void *pContext_p)
Set default values for the CiA402 Objects.
Definition: ecSlvApi.h:737
EC_API_SLV_SPdo_t * ptTxPdo1A01
Definition: ecSlvSimple.h:95
#define OBD_MOTION_PROFILE_TYPE_INDEX(x)
Definition: ecApiDef.h:596
uint16_t kBitSize
Definition: ecSlvApi_Eeprom.h:189
uint32_t EC_API_SLV_preSeqOutputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, void **ppOutProcData_p)
Acquire process data output buffer (RX)
Definition: ecSlvApi_ProcDataStub.c:1121
void EC_API_SLV_cbRegisterStartInputHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBStartInputHandler_t cbFunc_p)
This is the function to register a function which starts the input handler.
Definition: ecSlvApi_ESMStub.c:256
uint32_t cycleTimeSync0
Definition: ecSlvApi_Eeprom.h:134
uint8_t descIdx
Definition: ecSlvApi_Eeprom.h:141
void(* EC_API_SLV_CBStopOutputHandler_t)(void *pContext_p)
User defined function. Called when ouput handler is stopped.
Definition: ecSlvApi.h:329
@ EC_API_SLV_eERR_TEMPERATURE_ERROR
Temperature error.
Definition: ecSlvApi.h:119
bool EC_API_SLV_registerPhy(uint8_t phyIdx_p, uint8_t phyAddr_p, bool invertLinkPolarity_p, bool useRxLinkPin_p)
Register a phy for stack usage.
Definition: ecSlvApi_BoardStub.c:122
@ EC_API_eERR_PRODUCT_NAME_NOT_SET
Definition: ecApiError.h:99
#define OBD_VELOCITY_OFFSET_INDEX(x)
Definition: ecApiDef.h:609
ECATSLV_API char * EC_API_SLV_getGroupType(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get group type.
Definition: ecSlvApi_ParamStub.c:961
uint32_t EC_API_SLV_setHwVersion(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pHardwareVersion_p)
Set device hardware version.
Definition: ecSlvApi_ParamStub.c:370
EC_SLV_APP_sCIA_object_t controlWordIndex
Definition: ecSlvCiA402.h:79
uint8_t nameIdx
Definition: ecSlvApi_Eeprom.h:85
ECATSLV_API void EC_API_SLV_cbRegisterSystemReboot(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBSystemRebootHandler_t cbFunc_p)
This is the function to register the Reboot function.
Definition: ecSlvApi_FoEStub.c:291
uint32_t EC_API_SLV_setSerialNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t serialNumber_p)
Set default serial number.
Definition: ecSlvApi_ParamStub.c:229
@ EC_API_SLV_eESM_init
Init State.
Definition: ecSlvApi.h:91
EC_API_SLV_EErrorRegister
EC_DEVERROR_T Error register values. Object Dictionary Index 0x1001.
Definition: ecSlvApi.h:113
#define OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX(x)
Definition: ecApiDef.h:630
struct EC_API_SLV_SCoE_Object EC_API_SLV_SCoE_Object_t
TSdo describes an Object Dictionary Object.
Definition: ecSlvApi.h:136
#define STOP_ON_VOLTAGE_LIMIT
Stop on voltage limit (options: 0x605E)
Definition: ecApiDef.h:528
void EC_API_SLV_cbRegisterPhyLibDetect(CUST_PHY_CBextPhyLibDetect_t cbFunc_p, void *pContext_p)
Register an application specific Phy Library.
Definition: ecSlvApi_BoardStub.c:163
@ EC_API_SLV_eESM_errDevId
Explicit Device ID.
Definition: ecSlvApi.h:97
EC_API_SLV_EEP_ECat_type_t catType
Definition: ecSlvApi_Eeprom.h:127
#define STATUSWORD_INTERNAL_LIMIT
Internal limit.
Definition: ecApiDef.h:295
uint16_t checksum
Definition: ecSlvApi_Eeprom.h:163
struct kbEcCfg_SDataType * pDataType
Definition: ecSlvApi_EsiParser.h:68
uint8_t(* EC_API_SLV_CBObjRead_t)(void *pContext_p, uint16_t index_p, uint8_t subindex_p, uint32_t length_p, uint16_t *pData_p, uint8_t completeAccess_p)
Callback trigered by a SDO Upload operation.
Definition: ecSlvApi.h:429
EC_SLV_APP_sCIA_object_t modesOfOperationDisplayIndex
Definition: ecSlvCiA402.h:87
uint8_t state
Definition: ecSlvSimple.h:83
uint8_t smCtrlRegister
Definition: ecSyncMan.h:53
ECATSLV_API void EC_API_SLV_CiA402_registerSetDictionary(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplSetDict_t cbFunc_p)
Register a function which configures the CiA402 related objects.
Definition: ecSlvApi_CiA402Stub.c:85
Definition: ecSlvSimple.h:55
Definition: ecSlvCiA402.h:57
struct EC_API_SLV_SHandle EC_API_SLV_SHandle_t
EC_API_SLV_SHandle_t describes the EtherCAT Slave API.
Definition: ecSlvApi.h:139
void EC_API_SLV_cbRegisterBoardStatusLed(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBBoardStatusLed_t cbFunc_p, void *pLedContext_p)
Register Board Status LED callback.
Definition: ecSlvApi_BoardStub.c:273
#define EC_SLV_APP_CIA_GETAXISVALUE(type_p, target_p, axisDesc_p)
Read CiA402 Axis value.
Definition: ESL_cia402Demo.c:80
@ EC_API_eERR_NO_OUTPUT_PROC_IMAGE
Definition: ecApiError.h:106
uint32_t i32uPathLen
Definition: ecSlvApi_EsiParser.h:245
Definition: ecSyncMan.h:50
bool EC_SLV_APP_EoE_settingIndHandler(void *pContext_p, uint16_t *pMac_p, uint16_t *pIp_p, uint16_t *pSubNet_p, uint16_t *pDefaultGateway_p, uint16_t *pDnsIp_p)
EoE Settings Indication callback.
Definition: ecSlvSimple.c:2236
@ EC_API_eERR_ALLOC_FAILED
Definition: ecApiError.h:80
EC_API_SLV_SPdo_t * ptRxPdo1602
Definition: ecSlvCiA402.h:194
uint32_t shiftTime0
Definition: ecSlvApi_Eeprom.h:135
@ EC_API_eERR_MAP_ADDR_INV
Definition: ecApiError.h:103
struct kbEcCfg_SDataType * ptBaseType
Definition: ecSlvApi_EsiParser.h:79
uint16_t pdiConfiguration
Definition: ecSlvApi_Eeprom.h:156
#define OBD_TOUCH_PROBE_1_POS_EDGE_INDEX(x)
Definition: ecApiDef.h:614
uint16_t objectIndex
Definition: ecSlvCiA402.h:59
uint16_t i16uIndex
Definition: ecSlvApi_EsiParser.h:130
Definition: ecSlvApi_Eeprom.h:125
ECATSLV_API uint32_t EC_API_SLV_PDO_getData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint32_t length_p, uint8_t *pData_p)
Read PDO content from Process Image, all entries are read in a data chunk.
Definition: ecSlvApi_ProcDataStub.c:362
void * gpioHandle
Definition: ecSlvSimple.h:72
uint32_t EC_API_SLV_getOutputData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, uint8_t *pOutputData_p)
Read output process from the EtherCAT Master.
Definition: ecSlvApi_ProcDataStub.c:841
EC_SLV_APP_sCIA_object_t targetVelocityIndex
Definition: ecSlvCiA402.h:112
uint16_t objectIndex
Definition: ecSlvCiA402.h:69
uint32_t EC_API_SLV_getOutputProcDataLength(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Read the output process data length.
Definition: ecSlvApi_ProcDataStub.c:674
@ EC_API_SLV_eESM_uninit
Uninitialized State.
Definition: ecSlvApi.h:90
ECATSLV_API uint8_t EC_API_SLV_PDO_getEntryCount(EC_API_SLV_SPdo_t *pPdo_p)
Read PDO entry count.
Definition: ecSlvApi_ProcDataStub.c:714
uint32_t EC_API_SLV_CoE_getObjectEntryDataByObject(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p, uint32_t length_p, uint16_t *pData_p)
This function reads Data from the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:478
@ EC_API_eERR_UNALIGNED
Definition: ecApiError.h:86
#define OBD_INTERPOLATION_TIME_PERIOD_INDEX(x)
Definition: ecApiDef.h:619
uint8_t controlRegister
Definition: ecSlvApi_Eeprom.h:119
void(* EC_API_SLV_SoE_CBRecv_t)(void *pContext_p, uint16_t soEService_p, uint16_t soEFlags_p, void *pData_p, uint16_t *pLen_p)
Recevice SoE message from Master.
Definition: ecSlvApi.h:664
ECATSLV_API uint32_t EC_API_SLV_stop(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This is the function to stop the EtherCAT Slave API.
Definition: ecSlvApiStub.c:772
ECATSLV_API void EC_API_SLV_SoE_cbRegisterRecvHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_SoE_CBRecv_t cbFunc_p)
Register user application to process SoE frames received from master.
Definition: ecSlvApi_SoEStub.c:119
#define OBD_POSITION_RANGE_LIMIT_INDEX(x)
Definition: ecApiDef.h:585
uint16_t startAddress
Definition: ecSlvApi_Eeprom.h:117
EC_API_SLV_EEP_SCat_SyncManEntry_t CatSYNCM[4]
Definition: ecSlvApi_Eeprom.h:129
uint16_t categoryWordSize
Definition: ecSlvApi_Eeprom.h:73
#define DEFTYPE_BOOLEAN
BOOLEAN.
Definition: ecApiDef.h:65
void EC_API_SLV_CiA402_registerApplication(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplApplication_t cbFunc_p)
CiA402 Servo Drive application.
Definition: ecSlvApi_CiA402Stub.c:223
@ EC_API_eERR_XML_OPEN_FAILED
Definition: ecApiError.h:113
@ EC_API_eERR_VENDOR_ID_NOT_SET
Definition: ecApiError.h:97
@ EC_API_SLV_eDT_MODULAR_DEVICE
The device is a modular device.
Definition: ecSlvApi.h:104
#define OBD_POSITION_ENCODER_RESOLUTION_INDEX(x)
Definition: ecApiDef.h:598
#define OBD_POSITION_OFFSET_INDEX(x)
Definition: ecApiDef.h:608
KbEcCfg_TExclude * tExclude
Definition: ecSlvApi_EsiParser.h:142
@ EC_API_eERR_PDO_ENTRY_OVERFLOW
Definition: ecApiError.h:91
#define OBD_VELOCITY_THRESHOLD_TIME_INDEX(x)
Definition: ecApiDef.h:576
uint32_t EC_SLV_APP_cia402ObjectDictionary(void *pContext_p)
Generate CiA402 Objects.
Definition: ESL_cia402Obd.c:82
uint16_t EC_API_SLV_PDO_getOffset(EC_API_SLV_SPdo_t *pPdo_p)
This function return the offset of the PDO in the process image in bytes.
Definition: ecSlvApi_ProcDataStub.c:180
@ EC_API_eERR_XML_PARSE_PDO_IDX_VAL
Definition: ecApiError.h:118
void EC_API_SLV_EEPROM_cbRegisterLoad(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBEepromLoad_t cbFunc_p)
Register a function lo load the eeprom content.
Definition: ecSlvApiStub.c:1523
uint16_t i16uDataType
Definition: ecSlvApi_EsiParser.h:120
ECATSLV_API void EC_API_SLV_SoE_cbRegisterSendHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_SoE_CBSend_t cbFunc_p)
Register user application to generate SoE in order to send them to the master.
Definition: ecSlvApi_SoEStub.c:79
uint32_t posLimitMax
Definition: ecSlvCiA402.h:150
uint8_t dS402Channels
Definition: ecSlvApi_Eeprom.h:91
uint16_t standardReceiveMailboxOffset
Definition: ecSlvApi_Eeprom.h:181
struct EC_API_SLV_SPdo EC_API_SLV_SPdo_t
TPdo is used to describe the RxPDOs and TxPDOs.
Definition: ecSlvApi.h:130
EC_API_SLV_EEP_ECat_type_t catType
Definition: ecSlvApi_Eeprom.h:80
uint16_t(* EC_API_SLV_CiA402_CBUsrApplSetDict_t)(void *pContext_p)
Configure CiA402 Object Dictionary.
Definition: ecSlvApi.h:720
uint32_t EC_SLV_APP_setCiA402ObjectEntryValue(EC_API_SLV_SHandle_t *pEcApiSlv_p, uint16_t index_p, uint8_t subIndex_p, uint16_t length_p, uint16_t *pValue_p)
Write CiA402 Object entry.
Definition: ESL_cia402Demo.c:355
uint32_t EC_API_SLV_setPDICfg(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t pdiControl_p, uint16_t pdiConfig_p)
Set PDI Configuration.
Definition: ecSlvApi_ParamStub.c:508
bool axisIsActive
Axis is active.
Definition: ESL_cia402Demo.c:66
EC_SLV_APP_sCIA_object_t statusWordIndex
Definition: ecSlvCiA402.h:80
@ EC_API_SLV_eDT_SERVO_SAFETY_PROFILE
The device supports CiA402 for a servo drive with safety features.
Definition: ecSlvApi.h:107
ECATSLV_API uint32_t EC_API_SLV_PDO_setFixedMapping(EC_API_SLV_SHandle_t *pEcSlaveApi_p, bool fixed_p)
This is the function to set a PDO as fixed or not. Download of PDO Configuration during start up.
Definition: ecSlvApi_ProcDataStub.c:502
EC_API_EError
Definition: ecApiError.h:64
uint32_t EC_API_SLV_CoE_getObject(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, EC_API_SLV_SCoE_Object_t **pObject_p)
This function returns an object of the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:87
@ EC_API_eERR_NOT_INITIALIZED
Definition: ecApiError.h:84
Definition: ecSlvApi_EsiParser.h:96
int16_t sync1CycleFactor
Definition: ecSlvApi_Eeprom.h:137
kbEcCfg_EInfoData eDataType
Definition: ecSlvApi_EsiParser.h:98
uint8_t FMMU1
Definition: ecSlvApi_Eeprom.h:109
struct kbEcCfg_SObject * next
Definition: ecSlvApi_EsiParser.h:115
@ EC_API_eERR_SW_VERSION_NOT_SET
Definition: ecApiError.h:101
#define EC_SLV_APP_CIA_SETAXISVALUE(type_p, axisDesc_p, value_p)
Write CiA402 Axis value.
Definition: ESL_cia402Demo.c:106
uint16_t smOffset
Definition: ecSyncMan.h:51
EC_API_SLV_EEsmState_t EC_API_SLV_getState(void)
This is the function to read the EtherCAT Slave state machine.
Definition: ecSlvApiStub.c:969
#define OBD_TOUCH_PROBE_STATUS_INDEX(x)
Definition: ecApiDef.h:613
uint16_t standardSendMailboxOffset
Definition: ecSlvApi_Eeprom.h:183
ECATSLV_API uint8_t EC_API_SLV_readByteEscRegister(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t escAddress_p)
This is the function reads a byte from ESC Register.
Definition: ecSlvApiStub.c:1100
EC_API_SLV_SCoE_Object_t * pt200FRecObj
Definition: ecSlvSimple.h:90
kbEcCfg_TObject * tObjects
Definition: ecSlvApi_EsiParser.h:151
@ EC_API_SLV_eESM_preop
PreOP State.
Definition: ecSlvApi.h:92
@ EC_API_eERR_COE_OBJ_OVERFLOW
Definition: ecApiError.h:102
ECATSLV_API void EC_API_SLV_cbRegisterStopInputHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBStopInputHandler_t cbFunc_p)
This is the function to register a function which stops the input handler.
Definition: ecSlvApi_ESMStub.c:299
ECATSLV_API uint32_t EC_API_SLV_getProductCode(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get device product code.
Definition: ecSlvApi_ParamStub.c:781
ECATSLV_API uint32_t EC_API_SLV_phyRegRead(void *pStackContext_p, uint32_t regNum_p, uint16_t *pData_p)
Read from PHY using Stack.
Definition: ecSlvApi_BoardStub.c:195
EC_API_SLV_SPdo_t * ptTxPdo1A00
Definition: ecSlvSimple.h:94
ECATSLV_API uint8_t EC_API_SLV_notificationResponse(uint16_t idn_p, uint16_t channel_p, uint16_t dataState_p)
Respond to the notification request from the master.
Definition: ecSlvApi_SoEStub.c:208
void * loopThreadHandle
Definition: ecSlvSimple.h:69
kbEcCfg_TPdo * tPdos
Definition: ecSlvApi_EsiParser.h:149
EC_SLV_APP_sCIA_object_t targetPositionIndex
Definition: ecSlvCiA402.h:107
#define OBD_QUISTOP_DECELERATION_INDEX(x)
Definition: ecApiDef.h:595
ECATSLV_API void EC_API_SLV_unLoad(void)
Deinit HWAL, OSAL before unload.
Definition: ecSlvApiStub.c:408
uint8_t(* EC_API_SLV_SoE_CBNofReq_t)(void *pContext_p)
Master requests a notification. Application should send an Emergency message.
Definition: ecSlvApi.h:682
#define OBD_PROFILE_VELOCITY_INDEX(x)
Definition: ecApiDef.h:592
uint16_t categoryWordSize
Definition: ecSlvApi_Eeprom.h:128
EC_API_SLV_EUserRetCodes_t(* EC_API_SLV_CBStartInputHandler_t)(void *pContext_p, uint16_t *pIntMask_p)
User defined function. Called when input handler is started.
Definition: ecSlvApi.h:280
#define OBD_FAULT_REACTION_INDEX(x)
Definition: ecApiDef.h:557
struct kbEcCfg_SRecordSubItem * next
Definition: ecSlvApi_EsiParser.h:72
@ EC_API_eERR_VARIABLE_OVERFLOW
Definition: ecApiError.h:92
EC_API_EError_t(* EC_API_SLV_FoE_CBFwUpdateHandler_t)(void *pContext_p)
FoE Handle Firmware update callback.
Definition: ecSlvApi.h:600
#define OBD_HOMING_SPEEDS_INDEX(x)
Definition: ecApiDef.h:605
uint32_t i32uLevel
Definition: ecSlvApi_EsiParser.h:201
EC_API_SLV_EEP_SCat_DCEntry_t catDC[2]
Definition: ecSlvApi_Eeprom.h:149
@ EC_API_SLV_eERR_CURRENT_ERROR
Current error.
Definition: ecSlvApi.h:117
uint16_t port0Delay
Definition: ecSlvApi_Eeprom.h:172
uint32_t EC_API_SLV_CoE_getObjectEntryByObject(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint8_t subIndex_p, EC_API_SLV_SCoE_ObjEntry_t **ppObjectEntry_p)
This function returns object entries from the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:374
ECATSLV_API void EC_API_SLV_cbRegisterPreSeqInputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBPreSeqInputPD_t cbFunc_p)
This is the function to register a function which gets an external Process data buffer.
Definition: ecSlvApi_ProcDataStub.c:881
#define OBD_DISABLE_OPERATION_INDEX(x)
Definition: ecApiDef.h:555
uint8_t nameIdx
Definition: ecSlvApi_Eeprom.h:140
ECATSLV_API void EC_API_SLV_writeWordEscRegister(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t escAddress_p, uint16_t value_p)
Definition: ecSlvApiStub.c:1277
EC_API_EError_t EC_SLV_APP_populateTxPDO(EC_SLV_APP_Sapplication_t *pApplicationInstannce_p)
Configure TX PDO entries.
Definition: ecSlvSimple.c:1716
ECATSLV_API uint32_t EC_API_SLV_getVendorId(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get device vendor ID.
Definition: ecSlvApi_ParamStub.c:736
void(* EC_API_SLV_CBEepromWrite_t)(void *pContext_p, void *pEeprom_p, uint32_t length_p)
Write EEPROM to memory.
Definition: ecSlvApi.h:811
void(* EC_API_SLV_CBUsrApplicationRun_t)(void *pAppRunCtxt_p)
User defined function. Called as "application run" in MainLoop.
Definition: ecSlvApi.h:179
void(* EC_API_SLV_CBPostSeqOutputPD_t)(void *pContext_p, void *pData_p, uint32_t length_p)
Register external Release Output Process Data Buffer Function.
Definition: ecSlvApi.h:401
#define OBD_VELOCITY_WINDOW_INDEX(x)
Definition: ecApiDef.h:573
ECATSLV_API uint32_t EC_API_SLV_getRevisionNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get revision number.
Definition: ecSlvApi_ParamStub.c:826
#define OBD_PROFILE_DECELERATION_INDEX(x)
Definition: ecApiDef.h:594
uint32_t EC_SLV_APP_getCiA402ObjectEntryValue(void *pAppCtxt_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p, uint16_t length_p, uint16_t *pValue_p)
Read CiA402 Object entry.
Definition: ESL_cia402Demo.c:296
void EC_API_SLV_EoE_cbRegisterReceiveHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_EoE_CBReceiveHandler_t cbFunc_p)
This is the function to register EoE receive handlers.
Definition: ecSlvApi_EoEStub.c:80
uint16_t physicalPort
Definition: ecSlvApi_Eeprom.h:97
uint8_t reserved[4]
Definition: ecSlvApi_Eeprom.h:142
uint32_t EC_API_SLV_CoE_getObjectEntryData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p, uint32_t length_p, uint16_t *pData_p)
This function reads Data from the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:425
EC_SLV_APP_sCIA_axisData_t CiA402_axisData[AXES_NUMBER]
Definition: ecSlvCiA402.h:206
@ EC_API_eERR_TIMEOUT
Definition: ecApiError.h:76
void EC_SLV_APP_mainTask(void *pArg_p)
Main routine.
Definition: EtherCAT_Slave_Simple.c:183
@ EC_API_eERR_MAP_AREA_OVERFLOW
Definition: ecApiError.h:90
void EC_API_SLV_FoE_cbRegisterWriteFileHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_FoE_CBWriteFileHandler_t cbFunc_p)
This is the function to register FoE write function.
Definition: ecSlvApi_FoEStub.c:166
EC_API_SLV_EUserRetCodes_t(* EC_API_SLV_CBStartMbxHandler_t)(void *pContext_p)
User defined function. Called when mailbox handler is started.
Definition: ecSlvApi.h:244
void EC_SLV_APP_applicationInit(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Initialize slave application example.
Definition: ecSlvCiA402.c:996
ECATSLV_API void EC_API_SLV_cbRegisterStartOutputHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBStartOutputHandler_t cbFunc_p)
This is the function to register a function which starts the output handler.
Definition: ecSlvApi_ESMStub.c:345
@ EC_API_eERR_XML_HEX_PARSE_FAILED
Definition: ecApiError.h:114
EC_SLV_APP_sCIA_object_t quickStopIndex
Definition: ecSlvCiA402.h:81
uint8_t pAD_Byte2[12]
Definition: ecSlvApi_Eeprom.h:99
void(* EC_API_SLV_CBMsrmt_t)(void *pMsrmtCtxt_p, uint32_t measureChannel_p, bool channelOn_p)
Called on severe Stack error (OSAL_error)
Definition: ecSlvApi.h:227
@ EC_API_eERR_FULL
Definition: ecApiError.h:69
uint32_t(* EC_API_SLV_FoE_CBWriteFileHandler_t)(void *pContext_p, uint16_t *pData_p, uint16_t size_p)
Write FoE File callback.
Definition: ecSlvApi.h:563
Definition: ecSlvApi_Eeprom.h:153
void * remoteHandle
Definition: ecSlvSimple.h:73
@ EC_API_eERR_ERR_NO_CYCLIC_BUFFER
Definition: ecApiError.h:94
@ EC_API_eERR_STR_OVERFLOW
Definition: ecApiError.h:82
kbEcCfg_EsiXmlState eXmlState
Definition: ecSlvApi_EsiParser.h:215
@ EC_API_eERR_OUT_OF_BOUND
Definition: ecApiError.h:81
uint8_t groupIdx
Definition: ecSlvApi_Eeprom.h:82
uint32_t i32uLevel
Definition: ecSlvApi_EsiParser.h:208
ECATSLV_API void EC_API_SLV_cbRegisterUserApplicationMainLoop(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBUsrApplicationMainLoop_t cbFunc_p, void *pApplContext_p)
This is the function to register a function which runs application mainloop handler.
Definition: ecSlvApi_ESMStub.c:79
uint32_t selectedPruInstance
Definition: ecSlvSimple.h:57
#define CURRENT_LIMIT_NO_TRANSIT
Slow down on current limit and stay in Quick Stop Active.
Definition: ecApiDef.h:538
Definition: ecSlvApi_EsiParser.h:205
#define OBD_HOME_OFFSET_INDEX(x)
Definition: ecApiDef.h:586
uint32_t EC_API_SLV_run(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This is the function to run the EtherCAT Slave API.
Definition: ecSlvApiStub.c:726
#define OBD_TOUCH_PROBE_SOURCE(x)
Definition: ecApiDef.h:623
struct EC_API_SLV_SPdoEntry EC_API_SLV_SPdoEntry_t
TEntry describes an Entry of a PDO Mapping.
Definition: ecSlvApi.h:127
@ EC_API_eERR_INVALID
Definition: ecApiError.h:73
uint16_t i16uIndex
Definition: ecSlvApi_EsiParser.h:122
uint16_t mailboxProtocol
Definition: ecSlvApi_Eeprom.h:185
enum EC_API_SLV_EEsmState EC_API_SLV_EEsmState_t
EC_STATE_T EtherCAT State Machine states.
Definition: ecSlvCiA402.h:76
@ EC_API_eERR_MEM
Definition: ecApiError.h:70
@ EC_API_eERR_NULLPTR
Definition: ecApiError.h:79
ECATSLV_API uint32_t EC_API_SLV_setSwVersion(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pSoftwareVersion_p)
Set device Software Version.
Definition: ecSlvApi_ParamStub.c:417
char ac8DefaultString[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:100
#define OBD_CONTROLWORD_INDEX(x)
Definition: ecApiDef.h:550
uint8_t orderIdx
Definition: ecSlvApi_Eeprom.h:84
ECATSLV_API uint32_t EC_API_SLV_getVersionId(uint32_t bufLen_p, char *pBuffer_p, uint32_t *pUsedLen_p)
Get Version Id (Shasum)
Definition: ecSlvApiStub.c:229
#define OBD_POSITION_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:564
@ EC_API_eERR_STOPPED
Definition: ecApiError.h:74
void(* EC_API_SLV_CBStackError_t)(void *pAppRunCtxt_p, uint32_t errorCode_p, uint8_t fatal_p, uint8_t numOfParam_p, va_list arg_p)
Called on severe Stack error (OSAL_error)
Definition: ecSlvApi.h:204
uint16_t bootstrapReceiveMailboxOffset
Definition: ecSlvApi_Eeprom.h:176
#define STATUSWORD_TARGET_REACHED
Target reached.
Definition: ecApiDef.h:297
kbEcCfg_TDataType * ptDataType
Definition: ecSlvApi_EsiParser.h:209
#define OBD_GEAR_RATIO_INDEX(x)
Definition: ecApiDef.h:600
uint16_t EC_API_SLV_CiA402_SM_getErrorCode(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint8_t axisNo_p)
Get Local Error value.
Definition: ecSlvApi_CiA402Stub.c:443
#define ACCESS_READ
Read only in all states.
Definition: ecApiDef.h:133
@ EC_API_SLV_eDT_STEPPER_SAFETY_PROFILE
The device supports CiA402 for a stepper drive with safety features.
Definition: ecSlvApi.h:108
EC_API_SLV_SPdo_t * pdoObject
Definition: ecSlvCiA402.h:62
@ EC_API_eERR_HW_VERSION_NOT_SET
Definition: ecApiError.h:100
uint16_t i16uSubIndex
Definition: ecSlvApi_EsiParser.h:123
EC_API_SLV_EUserRetCodes_t(* EC_API_SLV_CBStartOutputHandler_t)(void *pContext_p)
User defined function. Called when output handler is started.
Definition: ecSlvApi.h:313
uint8_t syncManagerType
Definition: ecSlvApi_Eeprom.h:122
#define CYCLIC_SYNC_TORQUE_MODE
Cyclic Synchronous Torque mode.
Definition: ecApiDef.h:344
void EC_API_SLV_cbRegisterFlashInit(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBInitFlash_t cbFunc_p)
Initialize flash memory block.
Definition: ecSlvApiStub.c:1610
void EC_API_SLV_FoE_cbRegisterOpenFileHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_FoE_CBOpenFileHandler_t cbFunc_p)
This is the function to register FoE open function.
Definition: ecSlvApi_FoEStub.c:82
#define SLOWDOWN_RAMP_NO_TRANSIT
Slow down on slow down ramp and stay in Quick Stop Active.
Definition: ecApiDef.h:536
uint8_t i8uSubIdx
Definition: ecSlvApi_EsiParser.h:69
uint32_t EC_API_SLV_CoE_configRecordSubIndex(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint8_t subIndex_p, char *pName_p, uint16_t type_p, uint16_t bitLen_p, uint16_t flags_p)
This function creates a subIndex for the Record Object.
Definition: ecSlvApi_CoEStub.c:780
void EC_SLV_APP_CST(EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets)
Cyclic synchronous torque mode. ETG6010 6.4.
Definition: ESL_cia402Demo.c:611
ECATSLV_API uint32_t EC_API_SLV_PDO_enabled(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, bool *pEnabled_p)
Return if the PDO is assigned to the syncManager.
Definition: ecSlvApi_ProcDataStub.c:1399
#define CYCLIC_SYNC_POSITION_MODE
Cyclic Synchronous Position mode.
Definition: ecApiDef.h:342
void EC_API_SLV_cbRegisterMeasurement(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBMsrmt_t cbFunc_p)
Initialize flash memory block.
Definition: ecSlvApiStub.c:1652
@ EC_API_eERR_MISSING_PROC_DATA
Definition: ecApiError.h:104
uint8_t pdBuffer[128]
Definition: ecSlvSimple.h:99
@ EC_API_eERR_INVALID_SYNCMAN_IDX
Definition: ecApiError.h:111
uint32_t EC_API_SLV_PDO_create(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pName_p, uint16_t mapIndex_p, EC_API_SLV_SPdo_t **pOutPdo_p)
Creates an empty PDO.
Definition: ecSlvApi_ProcDataStub.c:86
#define OBD_FEED_CONSTANT_INDEX(x)
Definition: ecApiDef.h:601
@ EC_API_eERR_MALLOC
Definition: ecApiError.h:85
ECATSLV_API void EC_API_SLV_cbRegisterStopMbxHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBStopMbxHandler_t cbFunc_p)
This is the function to register a function which stops the mailbox handler.
Definition: ecSlvApi_ESMStub.c:209
ECATSLV_API uint32_t EC_API_SLV_setStationAlias(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t stationAlias_p)
This is the function to set station alias.
Definition: ecSlvApiStub.c:1055
uint16_t reserved1
Definition: ecSlvApi_Eeprom.h:174
kbEcCfg_TDataType * ptDataType
Definition: ecSlvApi_EsiParser.h:113
uint32_t EC_API_SLV_setVendorId(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t vendorId_p)
Set device vendor ID. Used by the EEPROM and Object Dictionary.
Definition: ecSlvApi_ParamStub.c:86
uint32_t EC_API_SLV_CoE_setObjectEntryData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p, uint32_t length_p, uint16_t *pData_p)
This function writes Data to the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:528
void EC_API_SLV_FoE_cbRegisterReadFileHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_FoE_CBReadFileHandler_t cbFunc_p)
This is the function to register FoE read function.
Definition: ecSlvApi_FoEStub.c:124
bool bMDP5001
Definition: ecSlvApi_EsiParser.h:154
ECATSLV_API void EC_API_SLV_CiA402_registerStateMachine(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplSM_t cbFunc_p)
Register the CiA402 state machine.
Definition: ecSlvApi_CiA402Stub.c:180
uint16_t reserved2[33]
Definition: ecSlvApi_Eeprom.h:187
@ EC_API_SLV_eESM_safeop
SafeOP State.
Definition: ecSlvApi.h:94
Definition: ecSlvApi_Eeprom.h:132
@ EC_API_eERR_NO_OUTPUT_PROC_MEMORY
Definition: ecApiError.h:110
char ac8Name[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:109
struct EC_API_SLV_SCoE_ObjEntry EC_API_SLV_SCoE_ObjEntry_t
TSdoEntry describes an OBD Object Entry.
Definition: ecSlvApi.h:133
EC_SLV_APP_sCIA_object_t disableOperationIndex
Definition: ecSlvCiA402.h:83
void EC_API_SLV_mainLoopCyclic(void)
Trigger stack mainloop.
Definition: ecSlvApiStub.c:1355
@ EC_API_SLV_eDT_STEPPER_DRIVE
The device supports CiA402 for a stepper drive.
Definition: ecSlvApi.h:106
#define OBD_TORQUE_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:581
bool(* EC_API_SLV_CBEepromLoad_t)(void *pContext_p, void *pEeprom_p, uint32_t *pLength_p)
Load EEPROM from memory.
Definition: ecSlvApi.h:792
@ EC_API_SLV_eESM_errState
Error Flag.
Definition: ecSlvApi.h:96
uint16_t bootstrapReceiveMailboxSize
Definition: ecSlvApi_Eeprom.h:177
bool EC_SLV_APP_EoE_receiveHandler(void *pContext_p, uint16_t *pData_p, uint16_t length_p)
User defined EoE receive function. Called when an EoE frame is received.
Definition: ecSlvSimple.c:2267
@ EC_API_SLV_ePRUICSS_INSTANCE_THREE
Definition: ecSlvApi.h:75
bool boIsTx
Definition: ecSlvApi_EsiParser.h:136
uint16_t EC_API_SLV_PDO_getLength(EC_API_SLV_SPdo_t *pPdo_p)
This function returns the Byte size of a PDO.
Definition: ecSlvApi_ProcDataStub.c:226
#define OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:632
#define OBD_TARGET_TORQUE_INDEX(x)
Definition: ecApiDef.h:578
uint32_t EC_API_SLV_setPDOSize(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t maxPdOutSize_p, uint32_t maxPdInSize_p)
Set ProcessData Size Limits.
Definition: ecSlvApi_ParamStub.c:463
@ EC_API_eERR_NOT_SUPPORTED
Definition: ecApiError.h:112
#define OBD_SUPPORTED_DRIVE_MODES_INDEX(x)
Definition: ecApiDef.h:635
uint16_t currentOnEBus
Definition: ecSlvApi_Eeprom.h:94
Definition: ecSlvApi_Eeprom.h:145
EC_SLV_APP_sCIA_objectEntry_t positionLimitMin
Definition: ecSlvCiA402.h:148
#define STATUSWORD_DRIVE_FOLLOWS_COMMAND
Drive follows command (used in cyclic synchronous modes)
Definition: ecApiDef.h:299
kbEcCfg_EsiXmlState eXmlState
Definition: ecSlvApi_EsiParser.h:207
void EC_API_SLV_cbRegisterPhyReset(CUST_PHY_CBreset_t cbFunc_p, void *pContext_p)
This is the function to register Phy Reset Function.
Definition: ecSlvApi_BoardStub.c:79
#define OBD_TORQUE_DEMAND_INDEX(x)
Definition: ecApiDef.h:580
kbEcCfg_eDataType eFormat
Definition: ecSlvApi_EsiParser.h:80
uint16_t smSize
Definition: ecSyncMan.h:52
uint16_t bootstrapSendMailboxOffset
Definition: ecSlvApi_Eeprom.h:178
bool brakeApplied
Motor brake is applied.
Definition: ESL_cia402Demo.c:67
@ EC_API_SLV_ePRUICSS_INSTANCE_MAX
Definition: ecSlvApi.h:76
uint16_t realPdoInLen
Definition: ecSlvCiA402.h:205
uint16_t pdoObjectOffset
Definition: ecSlvCiA402.h:63
void EC_SLV_APP_applicationInit(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Initialize application.
Definition: ecSlvSimple.c:2304
char ac8DefaultData[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:101
double positionActualValue
Actual position within control loop.
Definition: ESL_cia402Demo.c:73
kbEcCfg_TPdoEntry * tEntries
Definition: ecSlvApi_EsiParser.h:143
ECATSLV_API uint32_t EC_API_SLV_setErrorRegister(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_EErrorRegister_t errorRegister_p)
Error register value defined in ETG1000.6 Error Register Table.
Definition: ecSlvApiStub.c:1477
EC_API_SLV_SHandle_t * ptEcSlvApi
Definition: ecSlvSimple.h:97
EC_API_SLV_EUserRetCodeserRetCodes
EC_RETCODE_T Error codes used during EtherCAT State Machine transitions.
Definition: ecSlvApi.h:80
#define OBD_TOUCH_PROBE_2_POS_EDGE_INDEX(x)
Definition: ecApiDef.h:616
Definition: ecSlvApi_EsiParser.h:118
kbEcCfg_TObjectInfo * ptObjInfo
Definition: ecSlvApi_EsiParser.h:114
kbEcCfg_TPdo * ptPdo
Definition: ecSlvApi_EsiParser.h:202
kbEcCfg_TObject * ptObject
Definition: ecSlvApi_EsiParser.h:210
#define CYCLIC_SYNC_VELOCITY_MODE
Cyclic Synchronous Velocity mode.
Definition: ecApiDef.h:343
uint16_t bootstrapSendMailboxSize
Definition: ecSlvApi_Eeprom.h:179
@ EC_API_eERR_CRITICAL
Definition: ecApiError.h:67
#define DEFTYPE_UNSIGNED16
UNSIGNED16.
Definition: ecApiDef.h:70
@ EC_API_eERR_PDO_OVERFLOW
Definition: ecApiError.h:83
void(* EC_API_SLV_CiA402_CBUsrApplLocalError_t)(void *pContext_p, uint16_t errorCode_p)
User application local error.
Definition: ecSlvApi.h:772
uint32_t EC_API_SLV_setRevisionNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t revisionNumber_p)
Set device revision number. Used by the EEPROM and Object Dictionary.
Definition: ecSlvApi_ParamStub.c:182
void EC_API_SLV_CiA402_setAxisNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint8_t axisNo_p)
Set number of servo axis. A Cia402 Device might support multiple axes.
Definition: ecSlvApi_CiA402Stub.c:310
uint32_t(* pfCallback)(kbEcCfg_EXmlElement, const char *)
Definition: ecSlvApi_EsiParser.h:247
uint32_t EC_API_SLV_setProductCode(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t productCode_p)
Set device product code. Used by the EEPROM and Object Dictionary.
Definition: ecSlvApi_ParamStub.c:134
EC_API_SLV_SCoE_ObjEntry_t * pObjetEntry
Definition: ecSlvCiA402.h:73
@ EC_API_eERR_TX_PROC_IMG_OVERFLOW
Definition: ecApiError.h:87
#define QUICKSTOP_RAMP
Quick stop ramp (options: 0x605E)
Definition: ecApiDef.h:526
#define OBD_CURRENT_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:582
#define OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX(x)
Definition: ecApiDef.h:615
kbEcCfg_TDataType * tDatatypes
Definition: ecSlvApi_EsiParser.h:150
void EC_SLV_APP_loopTask(void *pArg_p)
Application Loop Task.
Definition: EtherCAT_Slave_Simple.c:105
Definition: ecSlvApi_Eeprom.h:104
uint16_t syncImpulseLen
Definition: ecSlvApi_Eeprom.h:158
ECATSLV_API uint32_t EC_API_SLV_PDO_disable(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p)
Disable PDO assignment to the syncManager.
Definition: ecSlvApi_ProcDataStub.c:1353
struct kbEcCfg_SExclude * next
Definition: ecSlvApi_EsiParser.h:131
uint8_t pAD_Byte1[1]
Definition: ecSlvApi_Eeprom.h:96
ECATSLV_API uint32_t EC_API_SLV_PDO_getEntryData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint8_t subIndex_p, uint32_t length_p, uint8_t *pData_p)
Read data from an individual PDO Entry Variable.
Definition: ecSlvApi_ProcDataStub.c:454
#define STOP_ON_CURRENT_LIMIT
Stop on current limit (options: 0x605E)
Definition: ecApiDef.h:527
uint32_t EC_API_SLV_CoE_odAddRecord(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, char *pName_p, EC_API_SLV_CBObjRead_t cbRead_p, void *pReadCtxt_p, EC_API_SLV_CBObjWrite_t cbWrite_p, void *pWriteCtxt_p, EC_API_SLV_SCoE_Object_t **pOutSdo_p)
This function creates a Record Object.
Definition: ecSlvApi_CoEStub.c:731
#define OBD_PROFILE_ACCELERATION_INDEX(x)
Definition: ecApiDef.h:593
void EC_SLV_APP_setObdValues(void *pCtxt_p)
Set default values for CiA 402 object dictionary.
Definition: ESL_cia402Demo.c:443
void EC_SLV_APP_motionControl(EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets)
This functions provides a simple feedback functionality.
Definition: ESL_cia402Demo.c:755
uint32_t EC_API_SLV_PDO_createEntry(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, char *pName_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p)
This function maps an object entry from the Object Dictionary as a PDO.
Definition: ecSlvApi_ProcDataStub.c:270
EC_API_SLV_EEsmState
EC_STATE_T EtherCAT State Machine states.
Definition: ecSlvApi.h:88
struct kbEcCfg_SPdoEntry * next
Definition: ecSlvApi_EsiParser.h:125
int32_t i32sPathIndex
Definition: ecSlvApi_EsiParser.h:246
#define OBD_SW_POSITION_LIMIT_INDEX(x)
Definition: ecApiDef.h:587
@ EC_API_eERR_NOTFOUND
Definition: ecApiError.h:75
#define OBD_TARGET_VELOCITY_INDEX(x)
Definition: ecApiDef.h:633
Definition: ecSlvApi_Eeprom.h:70
uint8_t i8uArrayLBound
Definition: ecSlvApi_EsiParser.h:81
void EC_API_SLV_EoE_cbRegisterSettingIndHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_EoE_CBSettingIndHandler_t cbFunc_p)
This is the function to register EoE Setting Indication handler.
Definition: ecSlvApi_EoEStub.c:122
void(* EC_API_SLV_CBUsrApplicationMainLoop_t)(void *pAppMainLoopCtxt_p)
User defined function. Called as application MainLoop in MainLoop.
Definition: ecSlvApi.h:162
uint32_t(* EC_API_SLV_FoE_CBReadFileHandler_t)(void *pContext_p, uint16_t *pData_p, uint16_t foeMaxSendBlockSize_p, uint32_t offset_p)
Read FoE File callback.
Definition: ecSlvApi.h:543
@ EC_API_eERR_WAIT
Definition: ecApiError.h:78
#define OBD_VELOCITY_THRESHOLD_INDEX(x)
Definition: ecApiDef.h:575
uint16_t station_alias
Definition: ecSlvApi_Eeprom.h:161
#define OBD_QUICKSTOP_INDEX(x)
Definition: ecApiDef.h:553
ECATSLV_API void EC_API_SLV_cbRegisterErrorHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBStackError_t cbFunc_p)
Definition: ecSlvApiStub.c:1391
uint8_t FMMU3
Definition: ecSlvApi_Eeprom.h:111
bool(* EC_API_SLV_EoE_CBSettingIndHandler_t)(void *pContext_p, uint16_t *pMac_p, uint16_t *pIp_p, uint16_t *pSubNet_p, uint16_t *pDefaultGateway_p, uint16_t *pDnsIp_p)
EoE Settings Indication callback proxy.
Definition: ecSlvApi.h:500
void EC_API_SLV_CiA402_registerLocalError(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplLocalError_t cbFunc_p)
Register a local error function, triggered if CiA402 state machine changes into an error state.
Definition: ecSlvApi_CiA402Stub.c:267
#define OBJACCESS_RXPDOMAPPING
Mappable in RxPDOs.
Definition: ecApiDef.h:142
ECATSLV_API uint32_t EC_API_SLV_PDO_get(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, EC_API_SLV_SPdo_t **pOutPdo_p)
Search for PDO and fetch it.
Definition: ecSlvApi_ProcDataStub.c:134
uint8_t smEnableSyncManager
Definition: ecSyncMan.h:54
uint16_t i16uBitSize
Definition: ecSlvApi_EsiParser.h:78
ECATSLV_API uint32_t EC_API_SLV_getConfigStatus(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This function reads the EtherCAT driver status.
Definition: ecSlvApiStub.c:853
@ EC_API_SLV_eESM_op
Operational State.
Definition: ecSlvApi.h:95
#define OBD_HOMING_ACCELERATION_INDEX(x)
Definition: ecApiDef.h:606
bool highLevelPowerApplied
High-level power applied.
Definition: ESL_cia402Demo.c:69
#define OBD_POLARITY_INDEX(x)
Definition: ecApiDef.h:588
EC_API_SLV_SPdo_t * ptRxPdo1600
Definition: ecSlvSimple.h:92
uint8_t eoE_Details
Definition: ecSlvApi_Eeprom.h:89
uint32_t productCode
Definition: ecSlvApi_Eeprom.h:166
EC_API_SLV_EDevType
EC_API_SLV_EDevType_t EtherCAT Device Type. Object Dictionary Index 0x1001.
Definition: ecSlvApi.h:101
@ EC_USR_eRET_OK
no error occurred
Definition: ecSlvApi.h:82
void(* EC_API_SLV_CBBoardStatusLed_t)(void *pContext_p, void *pLedContext_p, bool errLed_p, bool statusLed_p)
Set Status LED call back.
Definition: ecSlvApi.h:852
#define OBD_POSITION_WINDOW_TIME_INDEX(x)
Definition: ecApiDef.h:568
@ EC_API_eERR_ABORT
Definition: ecApiError.h:72
uint32_t posLimitMin
Definition: ecSlvCiA402.h:151
void EC_SLV_APP_initBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Init board.
Definition: ecSlvCiA402.c:850
uint16_t i16uFlags
Definition: ecSlvApi_EsiParser.h:71
void(* EC_API_SLV_CBSystemRebootHandler_t)(void *pContext_p)
Handle System Reboot.
Definition: ecSlvApi.h:616
uint32_t shiftTime1
Definition: ecSlvApi_Eeprom.h:136
@ EC_API_SLV_eDT_DEFAULT_DEVICE
The device does not support any specific profile.
Definition: ecSlvApi.h:103
@ EC_API_eERR_COE_OBJ_DESC_OVERFLOW
Definition: ecApiError.h:89
uint16_t realPdoOutLen
Definition: ecSlvCiA402.h:204
#define DEFTYPE_UNSIGNED32
UNSIGNED32.
Definition: ecApiDef.h:71
#define OBD_VELOCITY_ACTUAL_VALUE_INDEX(x)
Definition: ecApiDef.h:572
@ EC_API_SLV_eERR_VOLTAGE_ERROR
Voltage error.
Definition: ecSlvApi.h:118
void EC_SLV_APP_cia402Application(void *pCtxt_p)
CiA402 Application function.
Definition: ESL_cia402Demo.c:871
uint16_t standardSendMailboxSize
Definition: ecSlvApi_Eeprom.h:184
uint32_t EC_API_SLV_load(OSAL_PJumpBuf_t *pExceptionPoint_p, OSAL_ERR_CBHandler_t cbErrHandler_p, uint32_t pruSelect_p)
Initialize stack environment (OSAL and HWAL) after load.
Definition: ecSlvApiStub.c:367
uint32_t EC_API_SLV_postSeqOutputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, void *pOutProcData_p)
Return process data output buffer (RX)
Definition: ecSlvApi_ProcDataStub.c:1254
void EC_API_SLV_CiA402_SM_clearErrorCode(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint8_t axisNo_p)
Inform the CiA402 state machine whether a state change finished or not.
Definition: ecSlvApi_CiA402Stub.c:402
uint32_t(* EC_API_SLV_FoE_CBOpenFileHandler_t)(void *pContext_p, const char *pName_p, uint16_t nameLen_p, bool isRead_p, uint32_t password_p)
User defined FoE receive function. Called when an FoE frame is received.
Definition: ecSlvApi.h:522
@ EC_API_eERR_DEPRECATED
Definition: ecApiError.h:124
#define OBD_VELOCITY_FACTOR_INDEX(x)
Definition: ecApiDef.h:602
uint16_t length
Definition: ecSlvApi_Eeprom.h:118
uint8_t FMMU2
Definition: ecSlvApi_Eeprom.h:110
@ EC_API_eERR_EMPTY
Definition: ecApiError.h:68
EC_API_SLV_SCoE_Object_t * pSdo
Definition: ecSlvCiA402.h:71
void(* EC_API_SLV_SoE_CBSend_t)(void *pContext_p, uint16_t *pSoEService_p, uint16_t *pSoEFlags_p, void **pData_p, uint16_t *pLen_p)
Send SoE message to master.
Definition: ecSlvApi.h:640
#define OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX(x)
Definition: ecApiDef.h:563
@ EC_API_SLV_eERR_MANUFACTURER_ERROR
Manufacturer error.
Definition: ecSlvApi.h:122
bool(* EC_API_SLV_EoE_CBReceiveHandler_t)(void *pContext_p, uint16_t *pData_p, uint16_t length_p)
User defined EoE receive function. Called when an EoE frame is received.
Definition: ecSlvApi.h:477
uint16_t i16uIndex
Definition: ecSlvApi_EsiParser.h:110
ECATSLV_API uint32_t EC_API_SLV_PDO_addPadding(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint8_t length_p)
Add padding to the PDO.
Definition: ecSlvApi_ProcDataStub.c:596
ECATSLV_API char * EC_API_SLV_getProductName(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get serial number.
Definition: ecSlvApi_ParamStub.c:916
ECATSLV_API uint32_t EC_API_SLV_PDO_setData(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint32_t length_p, uint8_t *pData_p)
Write PDO content into Process Image. All PDO entries are written in a data chunk.
Definition: ecSlvApi_ProcDataStub.c:316
void EC_API_SLV_CiA402_activateAxis(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint8_t axisNo_p, bool active_p)
Activate Axis. This function is required to inform the CiA402 state machine that the axis is switched...
Definition: ecSlvApi_CiA402Stub.c:356
#define OBD_MAX_TORQUE_INDEX(x)
Definition: ecApiDef.h:579
ECATSLV_API void EC_API_SLV_cbRegisterStopOuputHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pcontext_p, EC_API_SLV_CBStopOutputHandler_t cbFunc_p)
This is the function to register a function which stops the output handler.
Definition: ecSlvApi_ESMStub.c:388
ECATSLV_API void EC_API_SLV_setFwUpdateMode(EC_API_SLV_SHandle_t *pEcSlaveApi_p, bool fwUpdateRequired_p)
Set whether firmware update is required after file read via FoE.
Definition: ecSlvApi_FoEStub.c:328
#define OBD_MAX_MOTOR_SPEED_INDEX(x)
Definition: ecApiDef.h:591
@ EC_API_SLV_eERR_COMMUNICATION_ERROR
Communication error.
Definition: ecSlvApi.h:120
uint16_t categoryWordSize
Definition: ecSlvApi_Eeprom.h:148
EC_SLV_APP_sCIA_object_t targetTorqueIndex
Definition: ecSlvCiA402.h:102
@ EC_API_SLV_eDT_MDP_GATEWAY_IOLINK
The device is a gateway to IO Link master.
Definition: ecSlvApi.h:109
uint32_t EC_API_SLV_setStandardMailbox(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t rxOffset_p, uint16_t rxSize_p, uint16_t txOffset_p, uint16_t txSize_p)
Set Standard Mailbox Configuration.
Definition: ecSlvApi_ParamStub.c:606
EC_API_SLV_EUserRetCodes_t EC_SLV_APP_startInputHandler(void *ctxt, uint16_t *pIntMask)
Get cycle time information.
Definition: ESL_cia402Demo.c:247
uint8_t enableSynchManager
Definition: ecSlvApi_Eeprom.h:121
int32_t trigger
Definition: ecSlvSimple.h:81
bool(* EC_API_SLV_CiA402_CBUsrApplSM_t)(void *pAppRunCtxt_p)
User defined function. Called as "application Cia402 StateMachine" in MainLoop.
Definition: ecSlvApi.h:703
bool boIsMandatory
Definition: ecSlvApi_EsiParser.h:138
const char ** apc8Path
Definition: ecSlvApi_EsiParser.h:244
ECATSLV_API void EC_API_SLV_SoE_cbRegisterNotificationReqHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_SoE_CBNofReq_t cbFunc_p)
Register user application to process SoE Notification Request service.
Definition: ecSlvApi_SoEStub.c:163
uint8_t EC_SLV_APP_getValueFromMaster(void *pApplicationCtxt_p, uint16_t index_p, uint8_t subindex_p, uint32_t size_p, uint16_t MBXMEM *pData_p, uint8_t completeAccess_p)
Read Process data (CoE) callback.
Definition: ecSlvSimple.c:223
@ EC_API_SLV_ePRUICSS_INSTANCE_ONE
Definition: ecSlvApi.h:73
EC_API_SLV_EEP_ECat_type_t catType
Definition: ecSlvApi_Eeprom.h:147
#define OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX(x)
Definition: ecApiDef.h:599
clock_t diff
Definition: ecSlvSimple.h:85
ECATSLV_API uint32_t EC_API_SLV_reset(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Reset configuration to default values.
Definition: ecSlvApiStub.c:815
uint16_t i16uBitSize
Definition: ecSlvApi_EsiParser.h:70
void EC_API_SLV_CiA402_registerSetDictValues(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplSetDictValues_t cbFunc_p)
Register a function which sets the default values of the CiA402 related objects.
Definition: ecSlvApi_CiA402Stub.c:131
char ac8Name[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:77
uint8_t soE_Details
Definition: ecSlvApi_Eeprom.h:90
uint8_t objectSubIndex
Definition: ecSlvCiA402.h:70
bool configurationAllowed
Configuration allowed.
Definition: ESL_cia402Demo.c:71
@ EC_API_eERR_XML_PARSE_INV_VALUE
Definition: ecApiError.h:116
@ EC_API_eERR_NONE
Definition: ecApiError.h:66
Definition: ecSlvApi_EsiParser.h:198
EC_API_SLV_SPdo_t * ptTxPdo1A02
Definition: ecSlvCiA402.h:197
ECATSLV_API char * EC_API_SLV_getHwVersion(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
Get serial number.
Definition: ecSlvApi_ParamStub.c:1051
bool axisFunctionEnabled
Axis functions enabled.
Definition: ESL_cia402Demo.c:70
@ EC_API_eERR_NO_INPUT_PROC_MEMORY
Definition: ecApiError.h:109
int32_t msec
Definition: ecSlvSimple.h:80
void EC_API_SLV_FoE_cbRegisterCloseFileHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_FoE_CBCloseFileHandler_t cbFunc_p)
This is the function to register FoE close function.
Definition: ecSlvApi_FoEStub.c:208
enum EC_API_SLV_EPRUICSS_MaxInstances EC_API_SLV_EPRUICSS_MaxInstances_t
PRUICSS Instance IDs.
uint16_t standardReceiveMailboxSize
Definition: ecSlvApi_Eeprom.h:182
uint16_t i16uIndex
Definition: ecSlvApi_EsiParser.h:141
Definition: ecSlvApi_EsiParser.h:107
kbEcCfg_TRecordSubItem * atRecordSubIndexes
Definition: ecSlvApi_EsiParser.h:84
uint16_t assignActivate
Definition: ecSlvApi_Eeprom.h:138
#define OBD_MAX_DECELERATION_INDEX(x)
Definition: ecApiDef.h:621
EC_API_SLV_SHandle_t * EC_API_SLV_new(void)
This is the function to create a new EtherCAT Slave device instance.
Definition: ecSlvApiStub.c:536
void(* EC_API_SLV_CBInitFlash_t)(void *pContext_p)
Init flash memory block to load and store eeprom content.
Definition: ecSlvApi.h:827
struct kbEcCfg_SPdo * next
Definition: ecSlvApi_EsiParser.h:144
char ac8Name[KBEC_MAX_NAMELEN]
Definition: ecSlvApi_EsiParser.h:140
uint8_t i8uArrayElements
Definition: ecSlvApi_EsiParser.h:82
bool boIsFixed
Definition: ecSlvApi_EsiParser.h:137
uint32_t EC_API_SLV_postSeqInputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, void *pInProcData_p)
Return process data input buffer (TX)
Definition: ecSlvApi_ProcDataStub.c:1192
uint8_t EC_SLV_APP_setValueToMaster(void *pApplicationCtxt_p, uint16_t index_p, uint8_t subindex_p, uint32_t size_p, uint16_t MBXMEM *pData_p, uint8_t completeAccess_p)
Write Process data (CoE) callback.
Definition: ecSlvSimple.c:278
uint32_t EC_API_SLV_setDeviceType(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_EDevType_t devType_p)
Define EtherCAT Device Type. Identifies the slave as a standard slave, an EtherCAT servo drive suppor...
Definition: ecSlvApiStub.c:1437
@ EC_API_eERR_PDO_MAPINDEX_EXISTS
Definition: ecApiError.h:121
uint8_t groupIdx2
Definition: ecSlvApi_Eeprom.h:95
uint32_t EC_API_SLV_init(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This is the function to initialize the EtherCAT Slave API.
Definition: ecSlvApiStub.c:679
#define OBD_POSITION_DEMAND_VALUE_INDEX(x)
Definition: ecApiDef.h:562
ECATSLV_API void EC_API_SLV_cbRegisterPostSeqOutputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBPostSeqOutputPD_t cbFunc_p)
This is the function to register a function which releases an external Process data buffer.
Definition: ecSlvApi_ProcDataStub.c:998
EC_SLV_APP_sCIA_object_t velocityActualValueIndex
Definition: ecSlvCiA402.h:97
ECATSLV_API void EC_API_SLV_cbRegisterPreSeqOutputPDBuffer(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBPreSeqOutputPD_t cbFunc_p)
This is the function to register a function which gets an external Process data buffer.
Definition: ecSlvApi_ProcDataStub.c:920
kbEcCfg_EsiXmlState eXmlState
Definition: ecSlvApi_EsiParser.h:200
uint16_t i16uFlags
Definition: ecSlvApi_EsiParser.h:112
EC_SLV_APP_sCIA_object_t shutdownIndex
Definition: ecSlvCiA402.h:82
void EC_SLV_APP_cia402LocalError(void *ctxt, uint16_t ErrorCode)
Local Error function handler.
Definition: ESL_cia402Demo.c:631
@ EC_API_SLV_eESM_bootstrap
BootStrap State.
Definition: ecSlvApi.h:93
EC_SLV_APP_sCIA_object_t faultReactionIndex
Definition: ecSlvCiA402.h:85
Definition: ecSlvApi_Eeprom.h:78
void EC_API_SLV_EEPROM_cbRegisterWrite(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBEepromWrite_t cbFunc_p)
Register a function lo store the eeprom content.
Definition: ecSlvApiStub.c:1568
Definition: ecSlvApi_EsiParser.h:65
int16_t sync0CycleFactor
Definition: ecSlvApi_Eeprom.h:139
EC_SLV_APP_sCIA_object_t modesOfOperationIndex
Definition: ecSlvCiA402.h:86
uint32_t EC_API_SLV_PDO_setAssignment(EC_API_SLV_SHandle_t *pEcSlaveApi_p, bool assignment_p)
Enable or disable PDO assignments of the SyncManagers. Download of PDO assignment (e....
Definition: ecSlvApi_ProcDataStub.c:549
uint32_t serialNo
Definition: ecSlvApi_Eeprom.h:168
EC_SLV_APP_sCIA_object_t torqueActualValueIndex
Definition: ecSlvCiA402.h:105
void *(* EC_API_SLV_CBPreSeqOutputPD_t)(void *pContext_p, uint32_t length_p)
Register external Output Process Data Buffer.
Definition: ecSlvApi.h:365
#define DEFTYPE_UNSIGNED8
UNSIGNED8.
Definition: ecApiDef.h:69