sdo_request.c File Reference

Canopen over EtherCAT SDO request functions. More...

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Macros
#define	EC_SDO_REQUEST_RESPONSE_TIMEOUT   1000
	Default timeout in ms to wait for SDO transfer responses.

Functions
void	ec_sdo_request_clear_data (ec_sdo_request_t *req)
	SDO request destructor.
void	ec_sdo_request_init (ec_sdo_request_t *req)
	SDO request constructor.
void	ec_sdo_request_clear (ec_sdo_request_t *req)
	SDO request destructor.
int	ec_sdo_request_copy (ec_sdo_request_t *req, const ec_sdo_request_t *other)
	Copy another SDO request.
int	ec_sdo_request_alloc (ec_sdo_request_t *req, size_t size)
	Pre-allocates the data memory.
int	ec_sdo_request_copy_data (ec_sdo_request_t *req, const uint8_t *source, size_t size)
	Copies SDO data from an external source.
int	ec_sdo_request_timed_out (const ec_sdo_request_t *req)
	Checks, if the timeout was exceeded.
int	ecrt_sdo_request_index (ec_sdo_request_t *req, uint16_t index, uint8_t subindex)
	Set the SDO index and subindex.
int	ecrt_sdo_request_timeout (ec_sdo_request_t *req, uint32_t timeout)
	Set the timeout for an SDO request.
uint8_t *	ecrt_sdo_request_data (const ec_sdo_request_t *req)
	Access to the SDO request's data.
size_t	ecrt_sdo_request_data_size (const ec_sdo_request_t *req)
	Returns the current SDO data size.
ec_request_state_t	ecrt_sdo_request_state (const ec_sdo_request_t *req)
	Get the current state of the SDO request.
int	ecrt_sdo_request_read (ec_sdo_request_t *req)
	Schedule an SDO read operation.
int	ecrt_sdo_request_write (ec_sdo_request_t *req)
	Schedule an SDO write operation.

Detailed Description

Canopen over EtherCAT SDO request functions.

Definition in file sdo_request.c.

Macro Definition Documentation

EC_SDO_REQUEST_RESPONSE_TIMEOUT

#define EC_SDO_REQUEST_RESPONSE_TIMEOUT   1000

Default timeout in ms to wait for SDO transfer responses.

Definition at line 38 of file sdo_request.c.

Function Documentation

ec_sdo_request_clear_data()

void ec_sdo_request_clear_data

(

ec_sdo_request_t *

req

)

SDO request destructor.

Parameters

req	SDO request.

Definition at line 100 of file sdo_request.c.

ec_sdo_request_init()

void ec_sdo_request_init

(

ec_sdo_request_t *

req

)

SDO request constructor.

Parameters

req	SDO request.

Definition at line 48 of file sdo_request.c.

ec_sdo_request_clear()

void ec_sdo_request_clear

(

ec_sdo_request_t *

req

)

SDO request destructor.

Parameters

req	SDO request.

Definition at line 70 of file sdo_request.c.

ec_sdo_request_copy()

int ec_sdo_request_copy	(	ec_sdo_request_t *	req,
		const ec_sdo_request_t *	other )

Copy another SDO request.

Attention

Only the index subindex and data are copied.

Returns

Zero on success, otherwise a negative error code.

Parameters

req	SDO request.
other	Other SDO request to copy from.

Definition at line 85 of file sdo_request.c.

ec_sdo_request_alloc()

int ec_sdo_request_alloc	(	ec_sdo_request_t *	req,
		size_t	size )

Pre-allocates the data memory.

If the mem_size is already bigger than size, nothing is done.

Returns

0 on success, otherwise -ENOMEM.

Parameters

req	SDO request.
size	Data size to allocate.

Definition at line 121 of file sdo_request.c.

ec_sdo_request_copy_data()

int ec_sdo_request_copy_data	(	ec_sdo_request_t *	req,
		const uint8_t *	source,
		size_t	size )

Copies SDO data from an external source.

If the mem_size is to small, new memory is allocated.

Return values

0	Success.
<0	Error code.

Parameters

req	SDO request.
source	Source data.
size	Number of bytes in source.

Definition at line 150 of file sdo_request.c.

ec_sdo_request_timed_out()

int ec_sdo_request_timed_out

(

const ec_sdo_request_t *

req

)

Checks, if the timeout was exceeded.

Returns

non-zero if the timeout was exceeded, else zero.

Parameters

req	SDO request.

Definition at line 171 of file sdo_request.c.