Brief description of Namespace datatypes.
More...
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| enum | EtherCATDataTypeEnum {
BOOLEAN = 1,
INTEGER8 = 2,
INTEGER16 = 3,
INTEGER32 = 4,
UNSIGNED8 = 5,
UNSIGNED16 = 6,
UNSIGNED32 = 7,
REAL32 = 8,
VISIBLE_STRING = 9,
OCTET_STRING = 10,
UNICODE_STRING = 11,
TIME_OF_DAY = 12,
TIME_DIFFERENCE = 13,
INTEGER24 = 16,
REAL64 = 17,
INTEGER64 = 21,
UNSIGNED24 = 22,
UNSIGNED64 = 27,
BYTE = 30,
BIT1 = 48,
BIT2 = 49,
BIT3 = 50,
BIT4 = 51,
BIT5 = 52,
BIT6 = 53,
BIT7 = 54,
BIT8 = 55
} |
| | Holds all the types we support via EtherCAT in a type-agnostic enum. More...
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| |
| enum | RegisterEnum {
TYPE = 0x0,
REVISION = 0x1,
BUILD = 0x2,
RAM_SIZE = 0x6,
PORT0_DESCRIPTOR = 0x00007,
PORT1_DESCRIPTOR = 0x20007,
PORT2_DESCRIPTOR = 0x40007,
PORT3_DESCRIPTOR = 0x60007,
FMMU_BIT_NOT_SUPPORTED = 0x00008,
NO_SUPPORT_RESERVED_REGISTER = 0x10008,
DC_SUPPORTED = 0x20008,
DC_RANGE = 0x30008,
LOW_JITTER_EBUS = 0x40008,
ENHANCED_LINK_DETECTION_EBUS = 0x50008,
ENHANCED_LINK_DETECTION_MII = 0x60008,
SEPARATE_FCS_ERROR_HANDLING = 0x70008,
CONFIGURED_STATION_ADDRESS = 0x10,
CONFIGURED_STATION_ALIAS = 0x12,
DLS_USER_OPERATIONAL = 0x00110,
LINK_STATUS_PORT_0 = 0x40110,
LINK_STATUS_PORT_1 = 0x50110,
LINK_STATUS_PORT_2 = 0x60110,
LINK_STATUS_PORT_3 = 0x70110,
LOOP_STATUS_PORT_0 = 0x00111,
SIGNAL_DETECTION_PORT_0 = 0x10111,
LOOP_STATUS_PORT_1 = 0x20111,
SIGNAL_DETECTION_PORT_1 = 0x30111,
LOOP_STATUS_PORT_2 = 0x40111,
SIGNAL_DETECTION_PORT_2 = 0x50111,
LOOP_STATUS_PORT_3 = 0x60111,
SIGNAL_DETECTION_PORT_3 = 0x70111,
STATUS_CONTROL = 0x120,
DLS_USER_R2 = 0x121,
STATUS = 0x130,
DLS_USER_R4 = 0x131,
DLS_USER_R5 = 0x132,
DLS_USER_R6 = 0x134,
DLS_USER_R7 = 0x140,
DLS_USER_R8 = 0x150,
DLS_USER_R9 = 0x141,
FRAME_ERROR_COUNTER_PORT_0 = 0x300,
PHYSICAL_ERROR_COUNTER_PORT_0 = 0x301,
FRAME_ERROR_COUNTER_PORT_1 = 0x302,
PHYSICAL_ERROR_COUNTER_PORT_1 = 0x303,
FRAME_ERROR_COUNTER_PORT_2 = 0x304,
PHYSICAL_ERROR_COUNTER_PORT_2 = 0x305,
FRAME_ERROR_COUNTER_PORT_3 = 0x306,
PHYSICAL_ERROR_COUNTER_PORT_3 = 0x307,
PREVIOUS_ERROR_COUNTER_PORT_0 = 0x308,
PREVIOUS_ERROR_COUNTER_PORT_1 = 0x309,
PREVIOUS_ERROR_COUNTER_PORT_2 = 0x30A,
PREVIOUS_ERROR_COUNTER_PORT_3 = 0x30B,
MALFORMAT_FRAME_COUNTER = 0x30C,
LOCAL_PROBLEM_COUNTER = 0x30D,
LOST_LINK_COUNTER_PORT_0 = 0x310,
LOST_LINK_COUNTER_PORT_1 = 0x311,
LOST_LINK_COUNTER_PORT_2 = 0x312,
LOST_LINK_COUNTER_PORT_3 = 0x313,
SII_READ_OPERATION = 0x00503,
SII_WRITE_OPERATION = 0x10503,
SII_RELOAD_OPERATION = 0x20503,
SII_CHECKSUM_ERROR = 0x30503,
SII_DEVICE_INFO_ERROR = 0x40503,
SII_COMMAND_ERROR = 0x50503,
SII_WRITE_ERROR = 0x60503,
SII_BUSY = 0x70503,
SYSTEM_TIME = 0x910
} |
| | The RegisterEnum enum encodes the slave registers that every slave offers. More...
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| |
Brief description of Namespace datatypes.
Copied from https://gitlab.com/h2t/student-projects/pse-ws2021/etherkitten/-/tree/master/reader/src/etherkitten/reader
!!! Needs correct license message!!!! !!!
◆ EtherCATDataTypeEnum
#include <armarx/control/ethercat/bus_io/EtherCATDataTypes.h>
Holds all the types we support via EtherCAT in a type-agnostic enum.
The enum values correspond to the values defined in the standard. We use these to identify which types different DataObjects have.
| Enumerator |
|---|
| BOOLEAN | |
| INTEGER8 | |
| INTEGER16 | |
| INTEGER32 | |
| UNSIGNED8 | |
| UNSIGNED16 | |
| UNSIGNED32 | |
| REAL32 | |
| VISIBLE_STRING | |
| OCTET_STRING | |
| UNICODE_STRING | |
| TIME_OF_DAY | |
| TIME_DIFFERENCE | |
| INTEGER24 | |
| REAL64 | |
| INTEGER64 | |
| UNSIGNED24 | |
| UNSIGNED64 | |
| BYTE | |
| BIT1 | |
| BIT2 | |
| BIT3 | |
| BIT4 | |
| BIT5 | |
| BIT6 | |
| BIT7 | |
| BIT8 | |
Definition at line 27 of file EtherCATDataTypes.h.
◆ RegisterEnum
#include <armarx/control/ethercat/bus_io/SlaveRegisters.h>
The RegisterEnum enum encodes the slave registers that every slave offers.
Not all registers are in this enum; a subset has been selected based on the registers' value in debugging.
The low 16 bits of a register's value in this enum corresponds to its address in a slave's memory. If multiple registers are located in the same byte, the next 3 bits encode the register's offset in the byte.
| Enumerator |
|---|
| TYPE | |
| REVISION | |
| BUILD | |
| RAM_SIZE | |
| PORT0_DESCRIPTOR | |
| PORT1_DESCRIPTOR | |
| PORT2_DESCRIPTOR | |
| PORT3_DESCRIPTOR | |
| FMMU_BIT_NOT_SUPPORTED | |
| NO_SUPPORT_RESERVED_REGISTER | |
| DC_SUPPORTED | |
| DC_RANGE | |
| LOW_JITTER_EBUS | |
| ENHANCED_LINK_DETECTION_EBUS | |
| ENHANCED_LINK_DETECTION_MII | |
| SEPARATE_FCS_ERROR_HANDLING | |
| CONFIGURED_STATION_ADDRESS | |
| CONFIGURED_STATION_ALIAS | |
| DLS_USER_OPERATIONAL | |
| LINK_STATUS_PORT_0 | |
| LINK_STATUS_PORT_1 | |
| LINK_STATUS_PORT_2 | |
| LINK_STATUS_PORT_3 | |
| LOOP_STATUS_PORT_0 | |
| SIGNAL_DETECTION_PORT_0 | |
| LOOP_STATUS_PORT_1 | |
| SIGNAL_DETECTION_PORT_1 | |
| LOOP_STATUS_PORT_2 | |
| SIGNAL_DETECTION_PORT_2 | |
| LOOP_STATUS_PORT_3 | |
| SIGNAL_DETECTION_PORT_3 | |
| STATUS_CONTROL | |
| DLS_USER_R2 | |
| STATUS | |
| DLS_USER_R4 | |
| DLS_USER_R5 | |
| DLS_USER_R6 | |
| DLS_USER_R7 | |
| DLS_USER_R8 | |
| DLS_USER_R9 | |
| FRAME_ERROR_COUNTER_PORT_0 | |
| PHYSICAL_ERROR_COUNTER_PORT_0 | |
| FRAME_ERROR_COUNTER_PORT_1 | |
| PHYSICAL_ERROR_COUNTER_PORT_1 | |
| FRAME_ERROR_COUNTER_PORT_2 | |
| PHYSICAL_ERROR_COUNTER_PORT_2 | |
| FRAME_ERROR_COUNTER_PORT_3 | |
| PHYSICAL_ERROR_COUNTER_PORT_3 | |
| PREVIOUS_ERROR_COUNTER_PORT_0 | |
| PREVIOUS_ERROR_COUNTER_PORT_1 | |
| PREVIOUS_ERROR_COUNTER_PORT_2 | |
| PREVIOUS_ERROR_COUNTER_PORT_3 | |
| MALFORMAT_FRAME_COUNTER | |
| LOCAL_PROBLEM_COUNTER | |
| LOST_LINK_COUNTER_PORT_0 | |
| LOST_LINK_COUNTER_PORT_1 | |
| LOST_LINK_COUNTER_PORT_2 | |
| LOST_LINK_COUNTER_PORT_3 | |
| SII_READ_OPERATION | |
| SII_WRITE_OPERATION | |
| SII_RELOAD_OPERATION | |
| SII_CHECKSUM_ERROR | |
| SII_DEVICE_INFO_ERROR | |
| SII_COMMAND_ERROR | |
| SII_WRITE_ERROR | |
| SII_BUSY | |
| SYSTEM_TIME | |
Definition at line 37 of file SlaveRegisters.h.
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