datatypes

Brief description of Namespace datatypes. More...

Enumerations
enum class	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...
enum class	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...

Detailed Description

Brief description of Namespace datatypes.

Copied from https://gitlab.com/h2t/student-projects/pse-ws2021/etherkitten/-/tree/master/reader/src/etherkitten/reader

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Enumeration Type Documentation

EtherCATDataTypeEnum

enum class EtherCATDataTypeEnum

strong

#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

enum class RegisterEnum

strong

#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.