Merge pull request #460 from OpenEtherCATsociety/ArthurKetels-add_timespec

Arthur ketels add timespec

.gitattributes

@@ -0,0 +1,17 @@
+# Set the default behavior, in case people don't have core.autocrlf set.
+* text=auto
+
+# Explicitly declare text files you want to always be normalized and converted
+# to native line endings on checkout.
+*.c text
+*.cpp text
+*.h text
+*.S text
+*.txt text
+*.md text
+
+# Declare files that will always have LF line endings on checkout.
+*.sh text eol=lf
+
+# Denote all files that are truly binary and should not be modified.
+*.lib binary

.gitignore

@@ -0,0 +1,6 @@
+build*
+install
+*~
+/doc/latex
+/doc/html
+tags

.travis.yml

@@ -0,0 +1,14 @@
+jobs:
+  include:
+    - dist: xenial
+    - dist: bionic
+    - os: osx
+
+language: c
+
+script:
+  - mkdir build
+  - pushd build
+  - cmake .. -DCMAKE_BUILD_TYPE=Release
+  - make install
+  - popd

CMakeLists.txt

@@ -0,0 +1,103 @@
+cmake_minimum_required(VERSION 2.8.12)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
+project(SOEM C)
+
+if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  # Default to installing in SOEM source directory
+  set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_LIST_DIR}/install)
+endif()
+
+set(SOEM_INCLUDE_INSTALL_DIR include/soem)
+set(SOEM_LIB_INSTALL_DIR lib)
+set(BUILD_TESTS TRUE)
+
+if(WIN32)
+  set(OS "win32")
+  include_directories(oshw/win32/wpcap/Include)
+  if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib/x64)
+  elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib)
+  endif()
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  /WX")
+  set(OS_LIBS wpcap.lib Packet.lib Ws2_32.lib Winmm.lib)
+elseif(UNIX AND NOT APPLE)
+  set(OS "linux")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
+  set(OS_LIBS pthread rt)
+elseif(APPLE)
+  # This must come *before* linux or MacOSX will identify as Unix.
+  set(OS "macosx")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
+  set(OS_LIBS pthread pcap)
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
+  set(OS "rtk")
+  message("ARCH is ${ARCH}")
+  message("BSP is ${BSP}")
+  include_directories(oshw/${OS}/${ARCH})
+  file(GLOB OSHW_EXTRA_SOURCES oshw/${OS}/${ARCH}/*.c)
+  set(OSHW_SOURCES "${OS_HW_SOURCES} ${OSHW_ARCHSOURCES}")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-but-set-variable")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-function")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format")
+  set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "rtems")
+  message("Building for RTEMS")
+  set(OS "rtems")
+  set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
+  set(BUILD_TESTS FALSE)
+endif()
+
+message("OS is ${OS}")
+
+file(GLOB SOEM_SOURCES soem/*.c)
+file(GLOB OSAL_SOURCES osal/${OS}/*.c)
+file(GLOB OSHW_SOURCES oshw/${OS}/*.c)
+
+file(GLOB SOEM_HEADERS soem/*.h)
+file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
+file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
+
+add_library(soem STATIC
+  ${SOEM_SOURCES}
+  ${OSAL_SOURCES}
+  ${OSHW_SOURCES}
+  ${OSHW_EXTRA_SOURCES})
+target_link_libraries(soem ${OS_LIBS})
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/soem>
+  $<INSTALL_INTERFACE:include/soem>)
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal>
+  $<INSTALL_INTERFACE:include/soem>)
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal/${OS}>
+  $<INSTALL_INTERFACE:include/soem>)
+
+target_include_directories(soem
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}>
+  $<INSTALL_INTERFACE:include/soem>
+  )
+
+message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
+
+install(TARGETS soem EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})
+
+install(EXPORT soemConfig DESTINATION share/soem/cmake)
+
+install(FILES
+  ${SOEM_HEADERS}
+  ${OSAL_HEADERS}
+  ${OSHW_HEADERS}
+  DESTINATION ${SOEM_INCLUDE_INSTALL_DIR})
+
+if(BUILD_TESTS) 
+  add_subdirectory(test/linux/slaveinfo)
+  add_subdirectory(test/linux/eepromtool)
+  add_subdirectory(test/linux/simple_test)
+endif()

ChangeLog

@@ -82,4 +82,10 @@ Version 1.3.1 : 2015-03-11
 - Added intime target.
 - Added rtk\fec target.
 - Compiles under gcc / visual-c / borland-c / intime.
-- Added multi-threaded configuration for parallel configurations of slaves     
+- Added multi-threaded configuration for parallel configurations of slaves
+Version 1.3.2 : 2018-02-02
+ - Made a mistake. DON'T USE!
+Version 1.3.3 : 2018-02-02
+- Added rtems target.
+- Added support for overlapping IOmap.
+

Doxyfile

@@ -32,7 +32,7 @@ PROJECT_NAME           = SOEM
 # This could be handy for archiving the generated documentation or 
 # if some version control system is used.
 
-PROJECT_NUMBER         = v1.3.1
+PROJECT_NUMBER         = v1.4.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description 
 # for a project that appears at the top of each page and should give viewer 

LICENSE

@@ -0,0 +1,34 @@
+Simple Open EtherCAT Master Library
+
+Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
+Copyright (C) 2005-2017 Arthur Ketels
+Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+Copyright (C) 2009-2017 rt-labs AB, Sweden
+
+SOEM is free software; you can redistribute it and/or modify it under the terms
+of the GNU General Public License version 2 as published by the Free Software
+Foundation.
+
+SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
+WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+PARTICULAR PURPOSE.  See the GNU General Public License for more details.
+
+As a special exception, if other files instantiate templates or use macros or
+inline functions from this file, or you compile this file and link it with other
+works to produce a work based on this file, this file does not by itself cause
+the resulting work to be covered by the GNU General Public License. However the
+source code for this file must still be made available in accordance with
+section (3) of the GNU General Public License.
+
+This exception does not invalidate any other reasons why a work based on this
+file might be covered by the GNU General Public License.
+
+The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
+property of, and protected by Beckhoff Automation GmbH. You can use SOEM for the
+sole purpose of creating, using and/or selling or otherwise distributing an
+EtherCAT network master provided that an EtherCAT Master License is obtained
+from Beckhoff Automation GmbH.
+
+In case you did not receive a copy of the EtherCAT Master License along with
+SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany
+(www.beckhoff.com).

Makefile

@@ -1,20 +0,0 @@
-#*****************************************************************************
-#                *          ***                    ***
-#              ***          ***                    ***
-# ***  ****  **********     ***        *****       ***  ****          *****
-# *********  **********     ***      *********     ************     *********
-# ****         ***          ***              ***   ***       ****   ***
-# ***          ***  ******  ***      ***********   ***        ****   *****
-# ***          ***  ******  ***    *************   ***        ****      *****
-# ***          ****         ****   ***       ***   ***       ****          ***
-# ***           *******      ***** **************  *************    *********
-# ***             *****        ***   *******   **  **  ******         *****
-#                           t h e  r e a l t i m e  t a r g e t  e x p e r t s
-#
-# http://www.rt-labs.com
-# Copyright (C) 2006. rt-labs AB, Sweden. All rights reserved.
-#------------------------------------------------------------------------------
-# $Id: Makefile 125 2012-04-01 17:36:17Z rtlaka $
-#------------------------------------------------------------------------------
-
-include $(PRJ_ROOT)/make/subdir.mk

README

@@ -1,27 +0,0 @@
-To compile for linux:
-
-go to project directory
-
-source ./setup.sh linux
-
-make all
-
-Please read the doxygen documentation in doc/html/index.html
-
---------------------------------------------------------------
-
-To complie for windows:
-
-go to project directory 
-
-Build soem libary make_libsoem_lib.bat <Path to MSVC VC> <arch>
-
-Ex: make_libsoem_lib.bat "C:\Program Files (x86)\Microsoft Visual Studio 10.0\VC" x86
-
-Build test folder make_test_win32.bat <Path to MSVC VC> <arch>
-
-Ex: make_test_win32.bat "C:\Program Files (x86)\Microsoft Visual Studio 10.0\VC" x86
-
-Test: slavinfo.exe <wpcap device name>. slaveinfo.exe will print the \Device\NPF_{xxxxxx}'s
-Ex. slaveinfo.exe \Device\NPF_{735D4B45-68D6-47A6-B826-E0DA26AC761A}
-

README.md

@@ -0,0 +1,48 @@
+# Simple Open EtherCAT Master Library
+[![Build Status](https://travis-ci.org/OpenEtherCATsociety/SOEM.svg?branch=master)](https://travis-ci.org/OpenEtherCATsociety/SOEM)
+[![Build status](https://ci.appveyor.com/api/projects/status/bqgirjsxog9k1odf?svg=true)](https://ci.appveyor.com/project/hefloryd/soem-5kq8b)
+
+BUILDING
+========
+
+
+Prerequisites for all platforms
+-------------------------------
+
+ * CMake 2.8.0 or later
+
+
+Windows (Visual Studio)
+-----------------------
+
+ * Start a Visual Studio command prompt then:
+   * `mkdir build`
+   * `cd build`
+   * `cmake .. -G "NMake Makefiles"`
+   * `nmake`
+
+Linux & macOS
+--------------
+
+   * `mkdir build`
+   * `cd build`
+   * `cmake ..`
+   * `make`
+
+ERIKA Enterprise RTOS
+---------------------
+
+ * Refer to http://www.erika-enterprise.com/wiki/index.php?title=EtherCAT_Master
+
+Documentation
+-------------
+
+See https://openethercatsociety.github.io/doc/soem/
+
+
+Want to contribute to SOEM or SOES?
+-----------------------------------
+
+If you want to contribute to SOEM or SOES you will need to sign a Contributor
+License Agreement and send it to us either by e-mail or by physical mail. More
+information is available in the [PDF](http://openethercatsociety.github.io/cla/cla_soem_soes.pdf).

TODO.tasks

@@ -1,6 +0,0 @@
-<?xml version="1.0"?>
-<gtodo>
-  <category title="Personal" place="0"/>
-  <category title="Business" place="1"/>
-  <category title="Unfiled" place="2"/>
-</gtodo>

appveyor.yml

@@ -0,0 +1,10 @@
+version: "{build}"
+
+install:
+  - cmd: '"C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x86'
+
+build_script:
+  - cmd: mkdir build
+  - cmd: cd build
+  - cmd: cmake .. -G "NMake Makefiles" -DCMAKE_BUILD_TYPE=Release
+  - cmd: nmake install

clean_libsoem_lib.bat

@@ -1,10 +0,0 @@
-@echo off
-
-if NOT EXIST obj goto skip_obj
-RMDIR /S /Q obj
-:skip_obj
-if NOT EXIST lib\win32 goto skip_lib
-RMDIR /S /Q lib\win32
-:skip_lib
-
-echo clean done

clean_test_win32.bat

@@ -1,54 +0,0 @@
-@echo off
-
-REM Build slave info
-if NOT EXIST test\win32\slaveinfo\obj goto skip_obj
-RMDIR /S /Q test\win32\slaveinfo\obj
-:skip_obj
-if NOT EXIST test\win32\slaveinfo\*.exe goto skip_exe
-DEL /Q test\win32\slaveinfo\*.exe
-:skip_exe
-if NOT EXIST test\win32\slaveinfo\*.ilk goto skip_ilk
-DEL /Q test\win32\slaveinfo\*.ilk
-:skip_ilk
-if NOT EXIST test\win32\slaveinfo\*.pdb goto skip_pdb
-DEL /Q test\win32\slaveinfo\*.pdb
-:skip_pdb
-if NOT EXIST test\win32\slaveinfo\*.idb goto skip_idb
-DEL /Q test\win32\slaveinfo\*.idb
-:skip_idb
-
-REM Simple_test info
-if NOT EXIST test\win32\simple_test\obj goto skip_obj2
-RMDIR /S /Q test\win32\simple_test\obj
-:skip_obj2
-if NOT EXIST test\win32\simple_test\*.exe goto skip_exe2
-DEL /Q test\win32\simple_test\*.exe
-:skip_exe2
-if NOT EXIST test\win32\simple_test\*.ilk goto skip_ilk2
-DEL /Q test\win32\simple_test\*.ilk
-:skip_ilk2
-if NOT EXIST test\win32\simple_test\*.pdb goto skip_pdb2
-DEL /Q test\win32\simple_test\*.pdb
-:skip_pdb2
-if NOT EXIST test\win32\simple_test\*.idb goto skip_idb2
-DEL /Q test\win32\simple_test\*.idb
-:skip_idb2
-
-REM eepromtool info
-if NOT EXIST test\win32\eepromtool\obj goto skip_obj3
-RMDIR /S /Q test\win32\eepromtool\obj
-:skip_obj3
-if NOT EXIST test\win32\eepromtool\*.exe goto skip_exe3
-DEL /Q test\win32\eepromtool\*.exe
-:skip_exe3
-if NOT EXIST test\win32\eepromtool\*.ilk goto skip_ilk3
-DEL /Q test\win32\eepromtool\*.ilk
-:skip_ilk3
-if NOT EXIST test\win32\eepromtool\*.pdb goto skip_pdb3
-DEL /Q test\win32\eepromtool\*.pdb
-:skip_pdb3
-if NOT EXIST test\win32\eepromtool\*.idb goto skip_idb3
-DEL /Q test\win32\eepromtool\*.idb
-:skip_idb3
-
-echo clean done

cmake/Modules/Platform/rt-kernel-C.cmake

@@ -0,0 +1,13 @@
+
+message("rt-kernel-C.cmake")
+
+# Determine toolchain
+include(CMakeForceCompiler)
+
+if(${ARCH} MATCHES "kinetis")
+  cmake_force_c_compiler(arm-eabi-gcc GNU)
+  cmake_force_cxx_compiler(arm-eabi-g++ GNU)
+elseif(${ARCH} MATCHES "bfin")
+  cmake_force_c_compiler(bfin-elf-gcc GNU)
+  cmake_force_cxx_compiler(bfin-elf-g++ GNU)
+endif()  

cmake/Modules/Platform/rt-kernel-gcc-bfin.cmake

@@ -0,0 +1,3 @@
+
+set(MACHINE "-mcpu=bf537")
+set(LDFLAGS "-T${RT_KERNEL_PATH}/bsp/${BSP}/${BSP}.ld")

cmake/Modules/Platform/rt-kernel-gcc-kinetis.cmake

@@ -0,0 +1,7 @@
+
+message("rt-kernel-gcc-kinetis.cmake")
+
+#SET_PROPERTY(GLOBAL PROPERTY ARCH kinetis)
+#SET_PROPERTY(GLOBAL PROPERTY BSP twrk60)
+
+set(MACHINE "-mfpu=vfp -mcpu=cortex-m3 -mthumb")

cmake/Modules/Platform/rt-kernel-gcc.cmake

@@ -0,0 +1,19 @@
+
+message("rt-kernel-gcc.cmake")
+
+set(CMAKE_C_OUTPUT_EXTENSION .o)
+set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS FALSE)
+
+set(CFLAGS "${CFLAGS} -Wall -Wextra -Wno-unused-parameter -Werror")
+set(CFLAGS "${CFLAGS} -fomit-frame-pointer -fno-strict-aliasing -fshort-wchar")
+#set(CFLAGS" ${CFLAGS} -B$(GCC_PATH)/libexec/gcc")
+
+set(CXXFLAGS "${CXXFLAGS} -fno-rtti -fno-exceptions")
+
+set(LDFLAGS "${LDFLAGS} -nostartfiles")
+
+set(CMAKE_C_FLAGS "${CFLAGS} ${MACHINE}" CACHE STRING "")
+set(CMAKE_EXE_LINKER_FLAGS "${MACHINE} ${LDFLAGS}" CACHE STRING "")
+
+
+

cmake/Modules/Platform/rt-kernel.cmake

@@ -0,0 +1,20 @@
+if(__RTK_CMAKE_INCLUDED)
+  return()
+endif()
+set(__RTK_CMAKE_INCLUDED TRUE)
+message("rt-kernel.cmake")
+
+include_directories(
+  ${RT_KERNEL_PATH}/include
+  ${RT_KERNEL_PATH}/include/kern
+  ${RT_KERNEL_PATH}/kern
+  ${RT_KERNEL_PATH}/include/drivers
+  ${RT_KERNEL_PATH}/include/arch/${ARCH}
+  ${RT_KERNEL_PATH}/bsp/${BSP}/include
+  ${RT_KERNEL_PATH}/lwip/src/include
+  ${RT_KERNEL_PATH}/lwip/src/include/ipv4
+)
+
+link_directories(
+  ${RT_KERNEL_PATH}/lib/${ARCH}
+)

cmake/Modules/Platform/rtems.cmake

@@ -0,0 +1,22 @@
+message("rtems.cmake")
+
+set(ARCH ${HOST})
+set(BSP ${RTEMS_BSP})
+
+set(CMAKE_C_COMPILER_FORCED true)
+set(CMAKE_CXX_COMPILER_FORCED true)
+set(CMAKE_C_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-gcc)
+set(CMAKE_CXX_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-g++)
+
+set(SOEM_INCLUDE_INSTALL_DIR ${INCLUDE_DIR}/soem)
+set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${HOST_C_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${HOST_CXX_FLAGS}")
+
+if(NOT ${HOST_LIBS} STREQUAL "")
+  set(OS_LIBS "rtemscpu bsd ${HOST_LIBS}")
+else()
+  set(OS_LIBS "-lrtemscpu -lbsd")
+endif()
+

cmake/Toolchains/rt-kernel-bfin.cmake

@@ -0,0 +1,9 @@
+
+message("rt-kernel-kinetis.cmake")
+
+set(CMAKE_SYSTEM_NAME rt-kernel)
+set(CMAKE_SYSTEM_VERSION 1)
+set(CMAKE_SYSTEM_PROCESSOR bfin)
+
+set(ARCH bfin CACHE STRING "Architecture")
+set(BSP stamp537 CACHE STRING "Board")

cmake/Toolchains/rt-kernel-kinetis.cmake

@@ -0,0 +1,9 @@
+
+message("rt-kernel-kinetis.cmake")
+
+set(CMAKE_SYSTEM_NAME rt-kernel)
+set(CMAKE_SYSTEM_VERSION 1)
+set(CMAKE_SYSTEM_PROCESSOR kinetis)
+
+set(ARCH kinetis CACHE STRING "Architecture")
+set(BSP twrk60 CACHE STRING "Board")

doc/html/annotated.html

@@ -1,92 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
-<head>
-<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
-<title>SOEM: Data Structures</title>
-<link href="tabs.css" rel="stylesheet" type="text/css"/>
-<link href="doxygen.css" rel="stylesheet" type="text/css"/>
-</head>
-<body>
-<!-- Generated by Doxygen 1.7.4 -->
-<div id="top">
-<div id="titlearea">
-<table cellspacing="0" cellpadding="0">
- <tbody>
- <tr style="height: 56px;">
-  <td style="padding-left: 0.5em;">
-   <div id="projectname">SOEM&#160;<span id="projectnumber">v1.3.1</span></div>
-  </td>
- </tr>
- </tbody>
-</table>
-</div>
-  <div id="navrow1" class="tabs">
-    <ul class="tablist">
-      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
-      <li class="current"><a href="annotated.html"><span>Data&#160;Structures</span></a></li>
-      <li><a href="files.html"><span>Files</span></a></li>
-    </ul>
-  </div>
-  <div id="navrow2" class="tabs2">
-    <ul class="tablist">
-      <li class="current"><a href="annotated.html"><span>Data&#160;Structures</span></a></li>
-      <li><a href="functions.html"><span>Data&#160;Fields</span></a></li>
-    </ul>
-  </div>
-</div>
-<div class="header">
-  <div class="headertitle">
-<div class="title">Data Structures</div>  </div>
-</div>
-<div class="contents">
-<div class="textblock">Here are the data structures with brief descriptions:</div><table>
-  <tr><td class="indexkey"><a class="el" href="structec__adapter.html">ec_adaptert</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__ALstatuscodelist__t.html">ec_ALstatuscodelist_t</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__alstatust.html">ec_alstatust</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__comt.html">ec_comt</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__configlist__t.html">ec_configlist_t</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__eepromFMMUt.html">ec_eepromFMMUt</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__eepromPDOt.html">ec_eepromPDOt</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__eepromSMt.html">ec_eepromSMt</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__eepromt.html">ec_eepromt</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__emcyt.html">ec_emcyt</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__eringt.html">ec_eringt</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__errort.html">ec_errort</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__etherheadert.html">ec_etherheadert</a></td><td class="indexvalue"></td></tr>
-  <tr><td class="indexkey"><a class="el" href="structec__fmmut.html">ec_fmmut</a></td><td class="indexvalue"></td></tr>
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-<a href="#func-members">Functions</a> &#124;
-<a href="#var-members">Variables</a>  </div>
-  <div class="headertitle">
-<div class="title">eepromtool.c File Reference</div>  </div>
-</div>
-<div class="contents">
-
-<p>EEprom tool for Simple Open EtherCAT master.  
-<a href="#details">More...</a></p>
-<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
-<code>#include &lt;stdlib.h&gt;</code><br/>
-<code>#include &lt;string.h&gt;</code><br/>
-<code>#include &lt;sys/time.h&gt;</code><br/>
-<code>#include &lt;unistd.h&gt;</code><br/>
-<code>#include &lt;time.h&gt;</code><br/>
-<code>#include &quot;<a class="el" href="ethercattype_8h.html">ethercattype.h</a>&quot;</code><br/>
-<code>#include &quot;nicdrv.h&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatbase_8h.html">ethercatbase.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatmain_8h.html">ethercatmain.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatcoe_8h.html">ethercatcoe.h</a>&quot;</code><br/>
-</div><table class="memberdecls">
-<tr><td colspan="2"><h2><a name="define-members"></a>
-Defines</h2></td></tr>
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-<tr><td colspan="2"><h2><a name="func-members"></a>
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-<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a4b722ad3962b156df78581d6b13dbcd4">calc_crc</a> (uint8 *crc, uint8 b)</td></tr>
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-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a0ac3cf2113cbd77624e88b0556f72ad8">output_bin</a> (char *fname, int length)</td></tr>
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-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a1f7b392753323c242f0c4fafb71def77">eeprom_read</a> (int <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, int start, int length)</td></tr>
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-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a68137906c06985fd3dfad06cfa6c02b8">eeprom_writealias</a> (int <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, int <a class="el" href="eepromtool_8c.html#a56f0b708d0bd5a42481fa2dc83a750d3">alias</a>, uint16 crc)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a98c21eb7a77138da75ba9db4826eeb12">eepromtool</a> (char *ifname, int <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, int <a class="el" href="eepromtool_8c.html#a1ea5d0cb93f22f7d0fdf804bd68c3326">mode</a>, char *fname)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a> (int argc, char *argv[])</td></tr>
-<tr><td colspan="2"><h2><a name="var-members"></a>
-Variables</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">uint8&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#af7f16fe542cd5af95b667d6182183475">ebuf</a> [MAXBUF]</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">uint8&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#aef62f3ff430568cf146415ae816d76f8">ob</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">uint16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#afb70173e508b80fc1adb457dacefa9c6">ow</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a0c98ab56e4779bc5f994fdff60723115">os</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a56f0b708d0bd5a42481fa2dc83a750d3">alias</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">struct timeval tstart tend&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a5a0719f516e05d099b8828353e82aff9">tdif</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#aa59bf150c9e0d285619f7c7e58c9942d">wkc</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#a1ea5d0cb93f22f7d0fdf804bd68c3326">mode</a></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="eepromtool_8c.html#af96279e1d4bfe177cebc849a64ecaf35">sline</a> [MAXSLENGTH]</td></tr>
-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>EEprom tool for Simple Open EtherCAT master. </p>
-<p>Usage : eepromtool ifname slave OPTION fname|alias ifname is NIC interface, f.e. eth0 slave = slave number in EtherCAT order 1..n -r read EEPROM, output binary format -ri read EEPROM, output Intel Hex format -w write EEPROM, input binary format -wi write EEPROM, input Intel Hex format -i display EEPROM information -walias write slave alias in EEPROM</p>
-<p>(c)Arthur Ketels 2010-2012 </p>
-</div><hr/><h2>Define Documentation</h2>
-<a class="anchor" id="a94626621e57342e1c6189fcac306d21a"></a><!-- doxytag: member="eepromtool.c::CRCBUF" ref="a94626621e57342e1c6189fcac306d21a" args="" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define CRCBUF&#160;&#160;&#160;14</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-
-</div>
-</div>
-<a class="anchor" id="a6f2abd206249c9db0d1ae65cdf6130a9"></a><!-- doxytag: member="eepromtool.c::IHEXLENGTH" ref="a6f2abd206249c9db0d1ae65cdf6130a9" args="" -->
-<div class="memitem">
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-      <table class="memname">
-        <tr>
-          <td class="memname">#define IHEXLENGTH&#160;&#160;&#160;0x20</td>
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-      </table>
-</div>
-<div class="memdoc">
-
-</div>
-</div>
-<a class="anchor" id="ad7871643c05865c80f5d8050aead2b57"></a><!-- doxytag: member="eepromtool.c::MAXBUF" ref="ad7871643c05865c80f5d8050aead2b57" args="" -->
-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define MAXBUF&#160;&#160;&#160;32768</td>
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-</div>
-<div class="memdoc">
-
-</div>
-</div>
-<a class="anchor" id="aaaebd896b70b2e7366ea0dd68117751a"></a><!-- doxytag: member="eepromtool.c::MAXSLENGTH" ref="aaaebd896b70b2e7366ea0dd68117751a" args="" -->
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-          <td class="memname">#define MAXSLENGTH&#160;&#160;&#160;256</td>
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-</div>
-<div class="memdoc">
-
-</div>
-</div>
-<a class="anchor" id="a6d50de7d3e32a3d72c2b957948c5d6a4"></a><!-- doxytag: member="eepromtool.c::MINBUF" ref="a6d50de7d3e32a3d72c2b957948c5d6a4" args="" -->
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-<div class="memdoc">
-
-</div>
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-<div class="memdoc">
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-</div>
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-<a class="anchor" id="a711fffeb11b40c66d48792fcd6664aa7"></a><!-- doxytag: member="eepromtool.c::MODE_NONE" ref="a711fffeb11b40c66d48792fcd6664aa7" args="" -->
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-<a class="anchor" id="ac9007583b31dfdf53edc7f31d3e01f04"></a><!-- doxytag: member="eepromtool.c::MODE_WRITEALIAS" ref="ac9007583b31dfdf53edc7f31d3e01f04" args="" -->
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-</div>
-<hr/><h2>Function Documentation</h2>
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-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>Headerfile for <a class="el" href="ethercatcoe_8c.html" title="CAN over EtherCAT (CoE) module.">ethercatcoe.c</a>. </p>
-</div><hr/><h2>Define Documentation</h2>
-<a class="anchor" id="ab047910b614296993a845373894400e3"></a><!-- doxytag: member="ethercatcoe.h::EC_MAXODLIST" ref="ab047910b614296993a845373894400e3" args="" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define EC_MAXODLIST&#160;&#160;&#160;1024</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>max entries in Object Description list </p>
-
-</div>
-</div>
-<a class="anchor" id="a722e4f5868ff78dda4c68122db7a4505"></a><!-- doxytag: member="ethercatcoe.h::EC_MAXOELIST" ref="a722e4f5868ff78dda4c68122db7a4505" args="" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define EC_MAXOELIST&#160;&#160;&#160;256</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>max entries in Object Entry list </p>
-
-</div>
-</div>
-<hr/><h2>Function Documentation</h2>
-<a class="anchor" id="ae14f0b4a17c305a7f4ae9c581e20e4a3"></a><!-- doxytag: member="ethercatcoe.h::ecx_readODdescription" ref="ae14f0b4a17c305a7f4ae9c581e20e4a3" args="(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_readODdescription </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Item</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structec__ODlistt.html">ec_ODlistt</a> *&#160;</td>
-          <td class="paramname"><em>pODlist</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>CoE read Object Description. Adds textual description to object indexes.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Item</td><td>= Item number in ODlist. </td></tr>
-    <tr><td class="paramdir">[in,out]</td><td class="paramname">pODlist</td><td>= referencing Object Description list. </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter of slave response. </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a768ff90f482928bb7ce05eece7c509c2"></a><!-- doxytag: member="ethercatcoe.h::ecx_readODlist" ref="a768ff90f482928bb7ce05eece7c509c2" args="(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_readODlist </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structec__ODlistt.html">ec_ODlistt</a> *&#160;</td>
-          <td class="paramname"><em>pODlist</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>CoE read Object Description List.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Slave</td><td>= Slave number. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">pODlist</td><td>= resulting Object Description list. </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter of slave response. </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="ab448986e790f3f8c5f3697aaa690d4ed"></a><!-- doxytag: member="ethercatcoe.h::ecx_readOE" ref="ab448986e790f3f8c5f3697aaa690d4ed" args="(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_readOE </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Item</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structec__ODlistt.html">ec_ODlistt</a> *&#160;</td>
-          <td class="paramname"><em>pODlist</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structec__OElistt.html">ec_OElistt</a> *&#160;</td>
-          <td class="paramname"><em>pOElist</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>CoE read SDO service object entry.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Item</td><td>= Item in ODlist. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">pODlist</td><td>= Object description list for reference. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">pOElist</td><td>= resulting object entry structure. </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter of slave response. </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="af8c072d9420fe29d3b8adb2793f4534c"></a><!-- doxytag: member="ethercatcoe.h::ecx_readOEsingle" ref="af8c072d9420fe29d3b8adb2793f4534c" args="(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_readOEsingle </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Item</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint8&#160;</td>
-          <td class="paramname"><em>SubI</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structec__ODlistt.html">ec_ODlistt</a> *&#160;</td>
-          <td class="paramname"><em>pODlist</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structec__OElistt.html">ec_OElistt</a> *&#160;</td>
-          <td class="paramname"><em>pOElist</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>CoE read SDO service object entry, single subindex. Used in <a class="el" href="ethercatcoe_8c.html#a498a1f44b4c10cba07fe70b76339fbb0">ec_readOE()</a>.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Item</td><td>= Item in ODlist. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">SubI</td><td>= Subindex of item in ODlist. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">pODlist</td><td>= Object description list for reference. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">pOElist</td><td>= resulting object entry structure. </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter of slave response. </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a2ff4c0e65e1db37d42d69366537eab1e"></a><!-- doxytag: member="ethercatcoe.h::ecx_readPDOmap" ref="a2ff4c0e65e1db37d42d69366537eab1e" args="(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)" -->
-<div class="memitem">
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-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_readPDOmap </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>Osize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>Isize</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>CoE read PDO mapping.</p>
-<p>CANopen has standard indexes defined for PDO mapping. This function tries to read them and collect a full input and output mapping size of designated slave.</p>
-<p>Principal structure in slave:<br/>
- 1C00:00 is number of SM defined<br/>
- 1C00:01 SM0 type -&gt; 1C10<br/>
- 1C00:02 SM1 type -&gt; 1C11<br/>
- 1C00:03 SM2 type -&gt; 1C12<br/>
- 1C00:04 SM3 type -&gt; 1C13<br/>
- Type 0 = unused, 1 = mailbox in, 2 = mailbox out, 3 = outputs (RxPDO), 4 = inputs (TxPDO).</p>
-<p>1C12:00 is number of PDO's defined for SM2<br/>
- 1C12:01 PDO assign SDO #1 -&gt; f.e. 1A00<br/>
- 1C12:02 PDO assign SDO #2 -&gt; f.e. 1A04\</p>
-<p>1A00:00 is number of object defined for this PDO<br/>
- 1A00:01 object mapping #1, f.e. 60100710 (SDO 6010 SI 07 bitlength 0x10)</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Osize</td><td>= Size in bits of output mapping (rxPDO) found </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Isize</td><td>= Size in bits of input mapping (txPDO) found </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>&gt;0 if mapping succesful. </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a45576c4910e428ca3fb7a2005be49aef"></a><!-- doxytag: member="ethercatcoe.h::ecx_readPDOmapCA" ref="a45576c4910e428ca3fb7a2005be49aef" args="(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_readPDOmapCA </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>Osize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>Isize</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>CoE read PDO mapping in Complete Access mode (CA).</p>
-<p>CANopen has standard indexes defined for PDO mapping. This function tries to read them and collect a full input and output mapping size of designated slave. Slave has to support CA, otherwise use <a class="el" href="ethercatcoe_8c.html#a15ab60b8e11aa61d67480faa19d0ab28">ec_readPDOmap()</a>.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Osize</td><td>= Size in bits of output mapping (rxPDO) found </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Isize</td><td>= Size in bits of input mapping (txPDO) found </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>&gt;0 if mapping succesful. </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="acc81933b4e627482785c63b2f5bb8fc3"></a><!-- doxytag: member="ethercatcoe.h::ecx_RxPDO" ref="acc81933b4e627482785c63b2f5bb8fc3" args="(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber, int psize, void *p)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_RxPDO </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>RxPDOnumber</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>psize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>CoE RxPDO write, blocking.</p>
-<p>A RxPDO download request is issued.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">RxPDOnumber</td><td>= Related RxPDO number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">psize</td><td>= Size in bytes of PDO buffer. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to PDO buffer </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a818ed89cef707abf8d61db8058588303"></a><!-- doxytag: member="ethercatcoe.h::ecx_SDOerror" ref="a818ed89cef707abf8d61db8058588303" args="(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">void ecx_SDOerror </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>Index</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint8&#160;</td>
-          <td class="paramname"><em>SubIdx</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int32&#160;</td>
-          <td class="paramname"><em>AbortCode</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>Report SDO error.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Index</td><td>= Index that generated error </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">SubIdx</td><td>= Subindex that generated error </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">AbortCode</td><td>= Abortcode, see EtherCAT documentation for list </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<a class="anchor" id="a9f9f353bbca2f209cd7d1cb045f021f0"></a><!-- doxytag: member="ethercatcoe.h::ecx_SDOread" ref="a9f9f353bbca2f209cd7d1cb045f021f0" args="(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex, boolean CA, int *psize, void *p, int timeout)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_SDOread </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
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-<p>CoE SDO read, blocking. Single subindex or Complete Access.</p>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>= Index to read </td></tr>
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-<p>A RxPDO download request is issued.</p>
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-  <table class="params">
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doc/html/ethercatconfig_8c.html

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-
-<p>Configuration module for EtherCAT master.  
-<a href="#details">More...</a></p>
-<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
-<code>#include &lt;string.h&gt;</code><br/>
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-<code>#include &quot;<a class="el" href="ethercatcoe_8h.html">ethercatcoe.h</a>&quot;</code><br/>
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-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatconfig_8c.html#a502e65cce3b0b5f8dbcabf6f25dab351">ec_config</a> (uint8 usetable, void *pIOmap)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatconfig_8c.html#aa31ccd813ba490a3c0e6d57315e42606">ec_recover_slave</a> (uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, int timeout)</td></tr>
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-<tr><td colspan="2"><h2><a name="var-members"></a>
-Variables</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structecx__mapt__t.html">ecx_mapt_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatconfig_8c.html#a4831aee186feb5a4b0c063d3560bce6f">ecx_mapt</a> [MAX_MAPT]</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">OSAL_THREAD_HANDLE&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatconfig_8c.html#a346c38f231a1fe231515bbfc5f2bfc32">ecx_threadh</a> [MAX_MAPT]</td></tr>
-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>Configuration module for EtherCAT master. </p>
-<p>After successful initialisation with <a class="el" href="ethercatmain_8c.html#a4d4ce1bfe67dcda4868fe1717af993af">ec_init()</a> or <a class="el" href="ethercatmain_8c.html#a9b46e06711fc56cac33ac9c77f528de1">ec_init_redundant()</a> the slaves can be auto configured with this module. </p>
-</div><hr/><h2>Define Documentation</h2>
-<a class="anchor" id="af7063e832d749d4cbaa55317092ca5cc"></a><!-- doxytag: member="ethercatconfig.c::EC_DEFAULTDOSM0" ref="af7063e832d749d4cbaa55317092ca5cc" args="" -->
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-<p>standard SM0 flags configuration for digital output slaves </p>
-
-</div>
-</div>
-<a class="anchor" id="a7ffdfc0c1550e70c5579eb049e15a990"></a><!-- doxytag: member="ethercatconfig.c::EC_DEFAULTMBXSM0" ref="a7ffdfc0c1550e70c5579eb049e15a990" args="" -->
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-<p>standard SM0 flags configuration for mailbox slaves </p>
-
-</div>
-</div>
-<a class="anchor" id="a46051caffcdf0610f7aa0a5abef7920c"></a><!-- doxytag: member="ethercatconfig.c::EC_DEFAULTMBXSM1" ref="a46051caffcdf0610f7aa0a5abef7920c" args="" -->
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-<p>standard SM1 flags configuration for mailbox slaves </p>
-
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-
-</div>
-</div>
-<hr/><h2>Function Documentation</h2>
-<a class="anchor" id="a502e65cce3b0b5f8dbcabf6f25dab351"></a><!-- doxytag: member="ethercatconfig.c::ec_config" ref="a502e65cce3b0b5f8dbcabf6f25dab351" args="(uint8 usetable, void *pIOmap)" -->
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-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
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-<p>Enumerate / map and init all slaves.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
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-    <tr><td class="paramdir">[out]</td><td class="paramname">pIOmap</td><td>= pointer to IOmap </td></tr>
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-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter of slave discover datagram = number of slaves found </dd></dl>
-
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-</div>
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-<a class="anchor" id="aa740a2ba948117670c4f9741bc31cc38"></a><!-- doxytag: member="ethercatconfig.c::ec_config_map" ref="aa740a2ba948117670c4f9741bc31cc38" args="(void *pIOmap)" -->
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-<p>Map all PDOs from slaves to IOmap.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[out]</td><td class="paramname">pIOmap</td><td>= pointer to IOmap </td></tr>
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-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>IOmap size </dd></dl>
-
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-<p>Find slave in standard configuration list ec_configlist[]</p>
-<dl><dt><b>Parameters:</b></dt><dd>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">man</td><td>= manufacturer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">id</td><td>= ID </td></tr>
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-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>index in ec_configlist[] when found, otherwise 0 </dd></dl>
-
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-</div>
-<a class="anchor" id="aad37ae196ac8cc233dcae740f9fd4864"></a><!-- doxytag: member="ethercatconfig.c::ec_reconfig_slave" ref="aad37ae196ac8cc233dcae740f9fd4864" args="(uint16 slave, int timeout)" -->
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-<p>Enumerate and init all slaves.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">usetable</td><td>= TRUE when using configtable to init slaves, FALSE otherwise </td></tr>
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-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter of slave discover datagram = number of slaves found </dd></dl>
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-<p>Map all PDOs in one group of slaves to IOmap.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">pIOmap</td><td>= pointer to IOmap </td></tr>
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-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>IOmap size </dd></dl>
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-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
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-<p>Reconfigure slave.</p>
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-  <table class="params">
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-          <td class="paramkey"></td>
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-<p>Recover slave.</p>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
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-<a href="http://www.doxygen.org/index.html">
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doc/html/ethercatconfig_8h.html

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-<p>Headerfile for <a class="el" href="ethercatconfig_8c.html" title="Configuration module for EtherCAT master.">ethercatconfig.c</a>.  
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-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= local timeout f.e. EC_TIMEOUTRET3 </td></tr>
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-<dl class="return"><dt><b>Returns:</b></dt><dd>Slave state </dd></dl>
-
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-          <td class="paramname"><em>context</em>, </td>
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-          <td class="paramkey"></td>
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-<p>Recover slave.</p>
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-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= slave to recover </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= local timeout f.e. EC_TIMEOUTRET3 </td></tr>
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-</dl>
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-
-</div>
-</div>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
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doc/html/ethercatconfiglist_8h.html

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-<div class="header">
-  <div class="summary">
-<a href="#define-members">Defines</a> &#124;
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-<div class="title">ethercatconfiglist.h File Reference</div>  </div>
-</div>
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-
-<p>DEPRICATED Configuration list of known EtherCAT slave devices.  
-<a href="#details">More...</a></p>
-<table class="memberdecls">
-<tr><td colspan="2"><h2><a name="define-members"></a>
-Defines</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatconfiglist_8h.html#aaef6c7c9200a688140ee21286ea5a9d2">EC_CONFIGEND</a>&#160;&#160;&#160;0xffffffff</td></tr>
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-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>DEPRICATED Configuration list of known EtherCAT slave devices. </p>
-<p>If a slave is found in this list it is configured according to the parameters in the list. Otherwise the configuration info is read directly from the slave EEPROM (SII or Slave Information Interface). </p>
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-</div>
-<div class="memdoc">
-
-</div>
-</div>
-<hr/><h2>Variable Documentation</h2>
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doc/html/ethercatdc_8c.html

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-<a href="#define-members">Defines</a> &#124;
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-
-<p>Distributed Clock EtherCAT functions.  
-<a href="#details">More...</a></p>
-<div class="textblock"><code>#include &quot;oshw.h&quot;</code><br/>
-<code>#include &quot;osal.h&quot;</code><br/>
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-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>Distributed Clock EtherCAT functions. </p>
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-
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-
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-
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-<p>1st sync pulse delay in ns here 100ms </p>
-
-</div>
-</div>
-<hr/><h2>Function Documentation</h2>
-<a class="anchor" id="a1d811e329c093385d00fcdd48522fc21"></a><!-- doxytag: member="ethercatdc.c::ec_configdc" ref="a1d811e329c093385d00fcdd48522fc21" args="(void)" -->
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-          <td>(</td>
-          <td class="paramtype">void&#160;</td>
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-          <td>(</td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
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-        <tr>
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-          <td class="paramname"><em>CyclTime</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">uint32&#160;</td>
-          <td class="paramname"><em>CyclShift</em>&#160;</td>
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-          <td>(</td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
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-          <td class="paramname"><em>CyclTime0</em>, </td>
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-          <td class="paramtype">uint32&#160;</td>
-          <td class="paramname"><em>CyclTime1</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">uint32&#160;</td>
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-<a class="anchor" id="aa9593f8c1b4c397c8b9ebdcd99a42838"></a><!-- doxytag: member="ethercatdc.c::ecx_configdc" ref="aa9593f8c1b4c397c8b9ebdcd99a42838" args="(ecx_contextt *context)" -->
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-<p>Locate DC slaves, measure propagation delays.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-  </table>
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-
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-<p>Set DC of slave to fire sync0 at CyclTime interval with CyclShift offset.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclTime</td><td>Cycltime in ns. </td></tr>
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-<p>Set DC of slave to fire sync0 and sync1 at CyclTime interval with CyclShift offset.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">act</td><td>TRUE = active, FALSE = deactivated </td></tr>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclTime1</td><td>Cycltime SYNC1 in ns. This time is a delta time in relation to the SYNC0 fire. If CylcTime1 = 0 then SYNC1 fires a the same time as SYNC0. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclShift</td><td>CyclShift in ns. </td></tr>
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-          <td class="paramname"><em>context</em>, </td>
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-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
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doc/html/ethercatdc_8h.html

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-
-<p>Headerfile for <a class="el" href="ethercatdc_8c.html" title="Distributed Clock EtherCAT functions.">ethercatdc.c</a>.  
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-<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatdc_8h.html#aa9593f8c1b4c397c8b9ebdcd99a42838">ecx_configdc</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context)</td></tr>
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-<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatdc_8h.html#a6642a9859ce23e1dd027044bf56848ea">ecx_dcsync01</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift)</td></tr>
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-<div class="textblock"><p>Headerfile for <a class="el" href="ethercatdc_8c.html" title="Distributed Clock EtherCAT functions.">ethercatdc.c</a>. </p>
-</div><hr/><h2>Function Documentation</h2>
-<a class="anchor" id="aa9593f8c1b4c397c8b9ebdcd99a42838"></a><!-- doxytag: member="ethercatdc.h::ecx_configdc" ref="aa9593f8c1b4c397c8b9ebdcd99a42838" args="(ecx_contextt *context)" -->
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-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
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-<p>Locate DC slaves, measure propagation delays.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-  </table>
-  </dd>
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-
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-          <td class="paramtype">uint32&#160;</td>
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-<p>Set DC of slave to fire sync0 at CyclTime interval with CyclShift offset.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclTime</td><td>Cycltime in ns. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclShift</td><td>CyclShift in ns. </td></tr>
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-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">boolean&#160;</td>
-          <td class="paramname"><em>act</em>, </td>
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-          <td class="paramkey"></td>
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-          <td class="paramtype">uint32&#160;</td>
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-          <td class="paramtype">uint32&#160;</td>
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-<p>Set DC of slave to fire sync0 and sync1 at CyclTime interval with CyclShift offset.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>Slave number. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">act</td><td>TRUE = active, FALSE = deactivated </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclTime0</td><td>Cycltime SYNC0 in ns. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclTime1</td><td>Cycltime SYNC1 in ns. This time is a delta time in relation to the SYNC0 fire. If CylcTime1 = 0 then SYNC1 fires a the same time as SYNC0. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">CyclShift</td><td>CyclShift in ns. </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
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doc/html/ethercatfoe_8c.html

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-<div class="title">ethercatfoe.c File Reference</div>  </div>
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-
-<p>File over EtherCAT (FoE) module.  
-<a href="#details">More...</a></p>
-<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
-<code>#include &lt;string.h&gt;</code><br/>
-<code>#include &quot;osal.h&quot;</code><br/>
-<code>#include &quot;oshw.h&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercattype_8h.html">ethercattype.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatbase_8h.html">ethercatbase.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatmain_8h.html">ethercatmain.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatfoe_8h.html">ethercatfoe.h</a>&quot;</code><br/>
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-<tr><td colspan="2"><h2><a name="nested-classes"></a>
-Data Structures</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__FOEt.html">ec_FOEt</a></td></tr>
-<tr><td colspan="2"><h2><a name="define-members"></a>
-Defines</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8c.html#a793ff89db774aeb0df2b91a8e1a540d0">EC_MAXFOEDATA</a>&#160;&#160;&#160;512</td></tr>
-<tr><td colspan="2"><h2><a name="func-members"></a>
-Functions</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">PACKED_END int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8c.html#a1536d973f942803ff6f8402bda2bb58d">ecx_FOEdefinehook</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, void *hook)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8c.html#af35e58fe5ad113236426d97caf1f119f">ecx_FOEread</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, char *filename, uint32 password, int *psize, void *p, int timeout)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8c.html#ab3aacd710c4ae3f92a9da2b29199c345">ecx_FOEwrite</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, char *filename, uint32 password, int psize, void *p, int timeout)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8c.html#a6e12a3b98cadb84a64380366e2c239f8">ec_FOEdefinehook</a> (void *hook)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8c.html#a99191c2fcaa3e50999a80b831d1f08ed">ec_FOEread</a> (uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, char *filename, uint32 password, int *psize, void *p, int timeout)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8c.html#a212557ed69e601f59421bd32c463b0d5">ec_FOEwrite</a> (uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, char *filename, uint32 password, int psize, void *p, int timeout)</td></tr>
-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>File over EtherCAT (FoE) module. </p>
-<p>SDO read / write and SDO service functions </p>
-</div><hr/><h2>Define Documentation</h2>
-<a class="anchor" id="a793ff89db774aeb0df2b91a8e1a540d0"></a><!-- doxytag: member="ethercatfoe.c::EC_MAXFOEDATA" ref="a793ff89db774aeb0df2b91a8e1a540d0" args="" -->
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-
-</div>
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-<hr/><h2>Function Documentation</h2>
-<a class="anchor" id="a6e12a3b98cadb84a64380366e2c239f8"></a><!-- doxytag: member="ethercatfoe.c::ec_FOEdefinehook" ref="a6e12a3b98cadb84a64380366e2c239f8" args="(void *hook)" -->
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-          <td>(</td>
-          <td class="paramtype">void *&#160;</td>
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-</div>
-<a class="anchor" id="a99191c2fcaa3e50999a80b831d1f08ed"></a><!-- doxytag: member="ethercatfoe.c::ec_FOEread" ref="a99191c2fcaa3e50999a80b831d1f08ed" args="(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)" -->
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-          <td>(</td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">char *&#160;</td>
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-          <td class="paramkey"></td>
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-          <td class="paramtype">uint32&#160;</td>
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-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>psize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>timeout</em>&#160;</td>
-        </tr>
-        <tr>
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-
-</div>
-</div>
-<a class="anchor" id="a212557ed69e601f59421bd32c463b0d5"></a><!-- doxytag: member="ethercatfoe.c::ec_FOEwrite" ref="a212557ed69e601f59421bd32c463b0d5" args="(uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout)" -->
-<div class="memitem">
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-          <td>(</td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">char *&#160;</td>
-          <td class="paramname"><em>filename</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint32&#160;</td>
-          <td class="paramname"><em>password</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>psize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>timeout</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
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-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-
-</div>
-</div>
-<a class="anchor" id="a1536d973f942803ff6f8402bda2bb58d"></a><!-- doxytag: member="ethercatfoe.c::ecx_FOEdefinehook" ref="a1536d973f942803ff6f8402bda2bb58d" args="(ecx_contextt *context, void *hook)" -->
-<div class="memitem">
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-          <td class="memname">PACKED_END int ecx_FOEdefinehook </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>hook</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>FoE progress hook.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">hook</td><td>= Pointer to hook function. </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>1 </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="af35e58fe5ad113236426d97caf1f119f"></a><!-- doxytag: member="ethercatfoe.c::ecx_FOEread" ref="af35e58fe5ad113236426d97caf1f119f" args="(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">int ecx_FOEread </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">char *&#160;</td>
-          <td class="paramname"><em>filename</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint32&#160;</td>
-          <td class="paramname"><em>password</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>psize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>timeout</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>FoE read, blocking.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">filename</td><td>= Filename of file to read. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">password</td><td>= password. </td></tr>
-    <tr><td class="paramdir">[in,out]</td><td class="paramname">psize</td><td>= Size in bytes of file buffer, returns bytes read from file. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to file buffer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="ab3aacd710c4ae3f92a9da2b29199c345"></a><!-- doxytag: member="ethercatfoe.c::ecx_FOEwrite" ref="ab3aacd710c4ae3f92a9da2b29199c345" args="(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout)" -->
-<div class="memitem">
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-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">char *&#160;</td>
-          <td class="paramname"><em>filename</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint32&#160;</td>
-          <td class="paramname"><em>password</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>psize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>timeout</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>FoE write, blocking.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">filename</td><td>= Filename of file to write. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">password</td><td>= password. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">psize</td><td>= Size in bytes of file buffer. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to file buffer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
-</div>
-</div>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
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doc/html/ethercatfoe_8h.html

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-<a href="#func-members">Functions</a>  </div>
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-<div class="title">ethercatfoe.h File Reference</div>  </div>
-</div>
-<div class="contents">
-
-<p>Headerfile for <a class="el" href="ethercatfoe_8c.html" title="File over EtherCAT (FoE) module.">ethercatfoe.c</a>.  
-<a href="#details">More...</a></p>
-<table class="memberdecls">
-<tr><td colspan="2"><h2><a name="func-members"></a>
-Functions</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8h.html#aec93d4a29467cc0bdb9fc75ba7407f98">ecx_FOEdefinehook</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, void *hook)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8h.html#af35e58fe5ad113236426d97caf1f119f">ecx_FOEread</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, char *filename, uint32 password, int *psize, void *p, int timeout)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatfoe_8h.html#ab3aacd710c4ae3f92a9da2b29199c345">ecx_FOEwrite</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, char *filename, uint32 password, int psize, void *p, int timeout)</td></tr>
-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>Headerfile for <a class="el" href="ethercatfoe_8c.html" title="File over EtherCAT (FoE) module.">ethercatfoe.c</a>. </p>
-</div><hr/><h2>Function Documentation</h2>
-<a class="anchor" id="aec93d4a29467cc0bdb9fc75ba7407f98"></a><!-- doxytag: member="ethercatfoe.h::ecx_FOEdefinehook" ref="aec93d4a29467cc0bdb9fc75ba7407f98" args="(ecx_contextt *context, void *hook)" -->
-<div class="memitem">
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-          <td class="paramname"><em>context</em>, </td>
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-<div class="memdoc">
-<p>FoE progress hook.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">hook</td><td>= Pointer to hook function. </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>1 </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="af35e58fe5ad113236426d97caf1f119f"></a><!-- doxytag: member="ethercatfoe.h::ecx_FOEread" ref="af35e58fe5ad113236426d97caf1f119f" args="(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)" -->
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-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">char *&#160;</td>
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-          <td class="paramkey"></td>
-          <td></td>
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-          <td class="paramkey"></td>
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-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>psize</em>, </td>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>timeout</em>&#160;</td>
-        </tr>
-        <tr>
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-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>FoE read, blocking.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">filename</td><td>= Filename of file to read. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">password</td><td>= password. </td></tr>
-    <tr><td class="paramdir">[in,out]</td><td class="paramname">psize</td><td>= Size in bytes of file buffer, returns bytes read from file. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to file buffer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
-</div>
-</div>
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-          <td class="paramname"><em>context</em>, </td>
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-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
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-        <tr>
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-        <tr>
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-          <td></td>
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-        <tr>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
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-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>FoE write, blocking.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">filename</td><td>= Filename of file to write. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">password</td><td>= password. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">psize</td><td>= Size in bytes of file buffer. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to file buffer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
-</div>
-</div>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
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doc/html/ethercatprint_8c.html

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-<a href="#nested-classes">Data Structures</a> &#124;
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-<div class="title">ethercatprint.c File Reference</div>  </div>
-</div>
-<div class="contents">
-
-<p>Module to convert EtherCAT errors to readable messages.  
-<a href="#details">More...</a></p>
-<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
-<code>#include &quot;oshw.h&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercattype_8h.html">ethercattype.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatmain_8h.html">ethercatmain.h</a>&quot;</code><br/>
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-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>Module to convert EtherCAT errors to readable messages. </p>
-<p>SDO abort messages and AL status codes are used to relay slave errors to the user application. This module converts the binary codes to readble text. For the defined error codes see the EtherCAT protocol documentation. </p>
-</div><hr/><h2>Define Documentation</h2>
-<a class="anchor" id="a67b35fea9b43a4e1cc871470061f0865"></a><!-- doxytag: member="ethercatprint.c::EC_MAXERRORNAME" ref="a67b35fea9b43a4e1cc871470061f0865" args="" -->
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-
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-<p>Look up text string that belongs to AL status code.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">ALstatuscode</td><td>= AL status code as defined in EtherCAT protocol </td></tr>
-  </table>
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-
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-<p>Look up text string that belongs to MBX error code.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">errorcode</td><td>= MBX error code as defined in EtherCAT protocol </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>readable string </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a06b5c698a928559a9f6766f98232c266"></a><!-- doxytag: member="ethercatprint.c::ec_sdoerror2string" ref="a06b5c698a928559a9f6766f98232c266" args="(uint32 sdoerrorcode)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">const char* ec_sdoerror2string </td>
-          <td>(</td>
-          <td class="paramtype">uint32&#160;</td>
-          <td class="paramname"><em>sdoerrorcode</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>Look up text string that belongs to SDO error code.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">sdoerrorcode</td><td>= SDO error code as defined in EtherCAT protocol </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>readable string </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a1e44b3454dae69578da7287201e1e527"></a><!-- doxytag: member="ethercatprint.c::ec_soeerror2string" ref="a1e44b3454dae69578da7287201e1e527" args="(uint16 errorcode)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">char* ec_soeerror2string </td>
-          <td>(</td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>errorcode</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>Look up text string that belongs to SoE error code.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">errorcode</td><td>= SoE error code as defined in EtherCAT protocol </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>readable string </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a4a692aad76ae3f9720ab593651174788"></a><!-- doxytag: member="ethercatprint.c::ecx_elist2string" ref="a4a692aad76ae3f9720ab593651174788" args="(ecx_contextt *context)" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">char* ecx_elist2string </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<p>Look up error in ec_errorlist and convert to text string.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>readable string </dd></dl>
-
-</div>
-</div>
-<hr/><h2>Variable Documentation</h2>
-<a class="anchor" id="aa211ebf7788d8a16afd4d404229b9552"></a><!-- doxytag: member="ethercatprint.c::ec_ALstatuscodelist" ref="aa211ebf7788d8a16afd4d404229b9552" args="[]" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">const <a class="el" href="structec__ALstatuscodelist__t.html">ec_ALstatuscodelist_t</a> <a class="el" href="ethercatprint_8c.html#aa211ebf7788d8a16afd4d404229b9552">ec_ALstatuscodelist</a>[]</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<b>Initial value:</b><div class="fragment"><pre class="fragment"> {
-   {0x0000 , <span class="stringliteral">&quot;No error&quot;</span> },
-   {0x0001 , <span class="stringliteral">&quot;Unspecified error&quot;</span> },
-   {0x0002 , <span class="stringliteral">&quot;No memory&quot;</span> },
-   {0x0011 , <span class="stringliteral">&quot;Invalid requested state change&quot;</span> },
-   {0x0012 , <span class="stringliteral">&quot;Unknown requested state&quot;</span> },
-   {0x0013 , <span class="stringliteral">&quot;Bootstrap not supported&quot;</span> },
-   {0x0014 , <span class="stringliteral">&quot;No valid firmware&quot;</span> },
-   {0x0015 , <span class="stringliteral">&quot;Invalid mailbox configuration&quot;</span> },
-   {0x0016 , <span class="stringliteral">&quot;Invalid mailbox configuration&quot;</span> },
-   {0x0017 , <span class="stringliteral">&quot;Invalid sync manager configuration&quot;</span> },
-   {0x0018 , <span class="stringliteral">&quot;No valid inputs available&quot;</span> },
-   {0x0019 , <span class="stringliteral">&quot;No valid outputs&quot;</span> },
-   {0x001A , <span class="stringliteral">&quot;Synchronization error&quot;</span> },
-   {0x001B , <span class="stringliteral">&quot;Sync manager watchdog&quot;</span> },
-   {0x001C , <span class="stringliteral">&quot;Invalid sync Manager types&quot;</span> },
-   {0x001D , <span class="stringliteral">&quot;Invalid output configuration&quot;</span> },
-   {0x001E , <span class="stringliteral">&quot;Invalid input configuration&quot;</span> },
-   {0x001F , <span class="stringliteral">&quot;Invalid watchdog configuration&quot;</span> },
-   {0x0020 , <span class="stringliteral">&quot;Slave needs cold start&quot;</span> },
-   {0x0021 , <span class="stringliteral">&quot;Slave needs INIT&quot;</span> },
-   {0x0022 , <span class="stringliteral">&quot;Slave needs PREOP&quot;</span> },
-   {0x0023 , <span class="stringliteral">&quot;Slave needs SAFEOP&quot;</span> },
-   {0x0024 , <span class="stringliteral">&quot;Invalid input mapping&quot;</span> },
-   {0x0025 , <span class="stringliteral">&quot;Invalid output mapping&quot;</span> },
-   {0x0026 , <span class="stringliteral">&quot;Inconsistent settings&quot;</span> },
-   {0x0027 , <span class="stringliteral">&quot;Freerun not supported&quot;</span> },
-   {0x0028 , <span class="stringliteral">&quot;Synchronisation not supported&quot;</span> },
-   {0x0029 , <span class="stringliteral">&quot;Freerun needs 3buffer mode&quot;</span> },
-   {0x002A , <span class="stringliteral">&quot;Background watchdog&quot;</span> },
-   {0x002B , <span class="stringliteral">&quot;No valid Inputs and Outputs&quot;</span> },
-   {0x002C , <span class="stringliteral">&quot;Fatal sync error&quot;</span> },
-   {0x002D , <span class="stringliteral">&quot;No sync error&quot;</span> }, 
-   {0x002E , <span class="stringliteral">&quot;Invalid input FMMU configuration&quot;</span> },
-   {0x0030 , <span class="stringliteral">&quot;Invalid DC SYNC configuration&quot;</span> },
-   {0x0031 , <span class="stringliteral">&quot;Invalid DC latch configuration&quot;</span> },
-   {0x0032 , <span class="stringliteral">&quot;PLL error&quot;</span> },
-   {0x0033 , <span class="stringliteral">&quot;DC sync IO error&quot;</span> },
-   {0x0034 , <span class="stringliteral">&quot;DC sync timeout error&quot;</span> },
-   {0x0035 , <span class="stringliteral">&quot;DC invalid sync cycle time&quot;</span> },
-   {0x0035 , <span class="stringliteral">&quot;DC invalid sync0 cycle time&quot;</span> },
-   {0x0035 , <span class="stringliteral">&quot;DC invalid sync1 cycle time&quot;</span> },
-   {0x0042 , <span class="stringliteral">&quot;MBX_EOE&quot;</span> },
-   {0x0043 , <span class="stringliteral">&quot;MBX_COE&quot;</span> },
-   {0x0044 , <span class="stringliteral">&quot;MBX_FOE&quot;</span> },
-   {0x0045 , <span class="stringliteral">&quot;MBX_SOE&quot;</span> },
-   {0x004F , <span class="stringliteral">&quot;MBX_VOE&quot;</span> },
-   {0x0050 , <span class="stringliteral">&quot;EEPROM no access&quot;</span> },
-   {0x0051 , <span class="stringliteral">&quot;EEPROM error&quot;</span> },
-   {0x0060 , <span class="stringliteral">&quot;Slave restarted locally&quot;</span> },
-   {0x0061 , <span class="stringliteral">&quot;Device identification value updated&quot;</span> },
-   {0x00f0 , <span class="stringliteral">&quot;Application controller available&quot;</span> },
-   {0xffff , <span class="stringliteral">&quot;Unknown&quot;</span> }
-}
-</pre></div><p>AL status code list definition </p>
-
-</div>
-</div>
-<a class="anchor" id="a966daae7af63e5fa6dc9177516e039ed"></a><!-- doxytag: member="ethercatprint.c::ec_mbxerrorlist" ref="a966daae7af63e5fa6dc9177516e039ed" args="[]" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">const <a class="el" href="structec__mbxerrorlist__t.html">ec_mbxerrorlist_t</a> <a class="el" href="ethercatprint_8c.html#a966daae7af63e5fa6dc9177516e039ed">ec_mbxerrorlist</a>[]</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<b>Initial value:</b><div class="fragment"><pre class="fragment"> {
-   {0x0000, <span class="stringliteral">&quot;No error&quot;</span> },
-   {0x0001, <span class="stringliteral">&quot;Syntax of 6 octet Mailbox Header is wrong&quot;</span> },
-   {0x0002, <span class="stringliteral">&quot;The mailbox protocol is not supported&quot;</span> },
-   {0x0003, <span class="stringliteral">&quot;Channel Field contains wrong value&quot;</span>},
-   {0x0004, <span class="stringliteral">&quot;The service is no supported&quot;</span>},
-   {0x0005, <span class="stringliteral">&quot;Invalid mailbox header&quot;</span>},
-   {0x0006, <span class="stringliteral">&quot;Length of received mailbox data is too short&quot;</span>},
-   {0x0007, <span class="stringliteral">&quot;No more memory in slave&quot;</span>},
-   {0x0008, <span class="stringliteral">&quot;The lenght of data is inconsistent&quot;</span>},
-   {0xffff, <span class="stringliteral">&quot;Unknown&quot;</span>}
-}
-</pre></div><p>MBX error list definition </p>
-
-</div>
-</div>
-<a class="anchor" id="af7ffc7988490e837012ffa16795bd58b"></a><!-- doxytag: member="ethercatprint.c::ec_sdoerrorlist" ref="af7ffc7988490e837012ffa16795bd58b" args="[]" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">const <a class="el" href="structec__sdoerrorlist__t.html">ec_sdoerrorlist_t</a> <a class="el" href="ethercatprint_8c.html#af7ffc7988490e837012ffa16795bd58b">ec_sdoerrorlist</a>[]</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<b>Initial value:</b><div class="fragment"><pre class="fragment"> {
-   {0x00000000, <span class="stringliteral">&quot;No error&quot;</span> },
-   {0x05030000, <span class="stringliteral">&quot;Toggle bit not changed&quot;</span> },
-   {0x05040000, <span class="stringliteral">&quot;SDO protocol timeout&quot;</span> },
-   {0x05040001, <span class="stringliteral">&quot;Client/Server command specifier not valid or unknown&quot;</span> },
-   {0x05040005, <span class="stringliteral">&quot;Out of memory&quot;</span> },
-   {0x06010000, <span class="stringliteral">&quot;Unsupported access to an object&quot;</span> },
-   {0x06010001, <span class="stringliteral">&quot;Attempt to read to a write only object&quot;</span> },
-   {0x06010002, <span class="stringliteral">&quot;Attempt to write to a read only object&quot;</span> },
-   {0x06010003, <span class="stringliteral">&quot;Subindex can not be written, SI0 must be 0 for write access&quot;</span> },
-   {0x06010004, <span class="stringliteral">&quot;SDO Complete access not supported for variable length objects&quot;</span> },
-   {0x06010005, <span class="stringliteral">&quot;Object length exceeds mailbox size&quot;</span> },
-   {0x06010006, <span class="stringliteral">&quot;Object mapped to RxPDO, SDO download blocked&quot;</span> },
-   {0x06020000, <span class="stringliteral">&quot;The object does not exist in the object directory&quot;</span> },
-   {0x06040041, <span class="stringliteral">&quot;The object can not be mapped into the PDO&quot;</span> },
-   {0x06040042, <span class="stringliteral">&quot;The number and length of the objects to be mapped would exceed the PDO length&quot;</span> },
-   {0x06040043, <span class="stringliteral">&quot;General parameter incompatibility reason&quot;</span> },
-   {0x06040047, <span class="stringliteral">&quot;General internal incompatibility in the device&quot;</span> },
-   {0x06060000, <span class="stringliteral">&quot;Access failed due to a hardware error&quot;</span> },
-   {0x06070010, <span class="stringliteral">&quot;Data type does not match, length of service parameter does not match&quot;</span> },
-   {0x06070012, <span class="stringliteral">&quot;Data type does not match, length of service parameter too high&quot;</span> },
-   {0x06070013, <span class="stringliteral">&quot;Data type does not match, length of service parameter too low&quot;</span> },
-   {0x06090011, <span class="stringliteral">&quot;Subindex does not exist&quot;</span> },
-   {0x06090030, <span class="stringliteral">&quot;Value range of parameter exceeded (only for write access)&quot;</span> },
-   {0x06090031, <span class="stringliteral">&quot;Value of parameter written too high&quot;</span> },
-   {0x06090032, <span class="stringliteral">&quot;Value of parameter written too low&quot;</span> },
-   {0x06090036, <span class="stringliteral">&quot;Maximum value is less than minimum value&quot;</span> },
-   {0x08000000, <span class="stringliteral">&quot;General error&quot;</span> },
-   {0x08000020, <span class="stringliteral">&quot;Data cannot be transferred or stored to the application&quot;</span> },
-   {0x08000021, <span class="stringliteral">&quot;Data cannot be transferred or stored to the application because of local control&quot;</span> },
-   {0x08000022, <span class="stringliteral">&quot;Data cannot be transferred or stored to the application because of the present device state&quot;</span> },
-   {0x08000023, <span class="stringliteral">&quot;Object dictionary dynamic generation fails or no object dictionary is present&quot;</span> },
-   {0xffffffff, <span class="stringliteral">&quot;Unknown&quot;</span> }
-}
-</pre></div><p>SDO error list definition </p>
-
-</div>
-</div>
-<a class="anchor" id="ac949f12c50c15225e4e72664143d2450"></a><!-- doxytag: member="ethercatprint.c::ec_soeerrorlist" ref="ac949f12c50c15225e4e72664143d2450" args="[]" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">const <a class="el" href="structec__soeerrorlist__t.html">ec_soeerrorlist_t</a> <a class="el" href="ethercatprint_8c.html#ac949f12c50c15225e4e72664143d2450">ec_soeerrorlist</a>[]</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-<b>Initial value:</b><div class="fragment"><pre class="fragment"> {
-   {0x0000, <span class="stringliteral">&quot;No error&quot;</span> },
-   {0x1001, <span class="stringliteral">&quot;No IDN&quot;</span> },
-   {0x1009, <span class="stringliteral">&quot;Invalid access to element 1&quot;</span> },
-   {0x2001, <span class="stringliteral">&quot;No Name&quot;</span> },
-   {0x2002, <span class="stringliteral">&quot;Name transmission too short&quot;</span> },
-   {0x2003, <span class="stringliteral">&quot;Name transmission too long&quot;</span> },
-   {0x2004, <span class="stringliteral">&quot;Name cannot be changed (read only)&quot;</span> },
-   {0x2005, <span class="stringliteral">&quot;Name is write-protected at this time&quot;</span> },
-   {0x3002, <span class="stringliteral">&quot;Attribute transmission too short&quot;</span> },
-   {0x3003, <span class="stringliteral">&quot;Attribute transmission too long&quot;</span> },
-   {0x3004, <span class="stringliteral">&quot;Attribute cannot be changed (read only)&quot;</span> },
-   {0x3005, <span class="stringliteral">&quot;Attribute is write-protected at this time&quot;</span> },
-   {0x4001, <span class="stringliteral">&quot;No units&quot;</span> },
-   {0x4002, <span class="stringliteral">&quot;Unit transmission too short&quot;</span> },
-   {0x4003, <span class="stringliteral">&quot;Unit transmission too long&quot;</span> },
-   {0x4004, <span class="stringliteral">&quot;Unit cannot be changed (read only)&quot;</span> },
-   {0x4005, <span class="stringliteral">&quot;Unit is write-protected at this time&quot;</span> },
-   {0x5001, <span class="stringliteral">&quot;No minimum input value&quot;</span> },
-   {0x5002, <span class="stringliteral">&quot;Minimum input value transmission too short&quot;</span> },
-   {0x5003, <span class="stringliteral">&quot;Minimum input value transmission too long&quot;</span> },
-   {0x5004, <span class="stringliteral">&quot;Minimum input value cannot be changed (read only)&quot;</span> },
-   {0x5005, <span class="stringliteral">&quot;Minimum input value is write-protected at this time&quot;</span> },
-   {0x6001, <span class="stringliteral">&quot;No maximum input value&quot;</span> },
-   {0x6002, <span class="stringliteral">&quot;Maximum input value transmission too short&quot;</span> },
-   {0x6003, <span class="stringliteral">&quot;Maximum input value transmission too long&quot;</span> },
-   {0x6004, <span class="stringliteral">&quot;Maximum input value cannot be changed (read only)&quot;</span> },
-   {0x6005, <span class="stringliteral">&quot;Maximum input value is write-protected at this time&quot;</span> },
-   {0x7002, <span class="stringliteral">&quot;Operation data transmission too short&quot;</span> },
-   {0x7003, <span class="stringliteral">&quot;Operation data transmission too long&quot;</span> },
-   {0x7004, <span class="stringliteral">&quot;Operation data cannot be changed (read only)&quot;</span> },
-   {0x7005, <span class="stringliteral">&quot;Operation data is write-protected at this time (state)&quot;</span> },
-   {0x7006, <span class="stringliteral">&quot;Operation data is smaller than the minimum input value&quot;</span> },
-   {0x7007, <span class="stringliteral">&quot;Operation data is smaller than the maximum input value&quot;</span> },
-   {0x7008, <span class="stringliteral">&quot;Invalid operation data:Configured IDN will not be supported&quot;</span> },
-   {0x7009, <span class="stringliteral">&quot;Operation data write protected by a password&quot;</span> },
-   {0x700A, <span class="stringliteral">&quot;Operation data is write protected, it is configured cyclically&quot;</span> },
-   {0x700B, <span class="stringliteral">&quot;Invalid indirect addressing: (e.g., data container, list handling)&quot;</span> },
-   {0x700C, <span class="stringliteral">&quot;Operation data is write protected, due to other settings&quot;</span> },
-   {0x700D, <span class="stringliteral">&quot;Reserved&quot;</span> },
-   {0x7010, <span class="stringliteral">&quot;Procedure command already active&quot;</span> },
-   {0x7011, <span class="stringliteral">&quot;Procedure command not interruptible&quot;</span> },
-   {0x7012, <span class="stringliteral">&quot;Procedure command at this time not executable (state)&quot;</span> },
-   {0x7013, <span class="stringliteral">&quot;Procedure command not executable (invalid or false parameters)&quot;</span> },
-   {0x7014, <span class="stringliteral">&quot;No data state&quot;</span> },
-   {0x8001, <span class="stringliteral">&quot;No default value&quot;</span> },
-   {0x8002, <span class="stringliteral">&quot;Default value transmission too long&quot;</span> },
-   {0x8004, <span class="stringliteral">&quot;Default value cannot be changed, read only&quot;</span> },
-   {0x800A, <span class="stringliteral">&quot;Invalid drive number&quot;</span> },
-   {0x800A, <span class="stringliteral">&quot;General error&quot;</span> },
-   {0x800A, <span class="stringliteral">&quot;No element addressed&quot;</span> },
-   {0xffff, <span class="stringliteral">&quot;Unknown&quot;</span> }
-}
-</pre></div><p>SoE error list definition </p>
-
-</div>
-</div>
-<a class="anchor" id="a0a6dfc8758c7dd41b3e41479402fffe3"></a><!-- doxytag: member="ethercatprint.c::estring" ref="a0a6dfc8758c7dd41b3e41479402fffe3" args="[EC_MAXERRORNAME]" -->
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">char <a class="el" href="ethercatprint_8c.html#a0a6dfc8758c7dd41b3e41479402fffe3">estring</a>[EC_MAXERRORNAME]</td>
-        </tr>
-      </table>
-</div>
-<div class="memdoc">
-
-</div>
-</div>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
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-<p>Headerfile for <a class="el" href="ethercatprint_8c.html" title="Module to convert EtherCAT errors to readable messages.">ethercatprint.c</a>.  
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-<table class="memberdecls">
-<tr><td colspan="2"><h2><a name="func-members"></a>
-Functions</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatprint_8h.html#ab87ddc03634dbaba946b6d96f2c77a5a">ec_sdoerror2string</a> (uint16 sdoerrorcode)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatprint_8h.html#a921e6bce917181c18330ceb38f8937d1">ec_ALstatuscode2string</a> (uint16 ALstatuscode)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatprint_8h.html#a1e44b3454dae69578da7287201e1e527">ec_soeerror2string</a> (uint16 errorcode)</td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatprint_8h.html#a4a692aad76ae3f9720ab593651174788">ecx_elist2string</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context)</td></tr>
-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>Headerfile for <a class="el" href="ethercatprint_8c.html" title="Module to convert EtherCAT errors to readable messages.">ethercatprint.c</a>. </p>
-</div><hr/><h2>Function Documentation</h2>
-<a class="anchor" id="a921e6bce917181c18330ceb38f8937d1"></a><!-- doxytag: member="ethercatprint.h::ec_ALstatuscode2string" ref="a921e6bce917181c18330ceb38f8937d1" args="(uint16 ALstatuscode)" -->
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-          <td class="paramname"><em>ALstatuscode</em></td><td>)</td>
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-<p>Look up text string that belongs to AL status code.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">ALstatuscode</td><td>= AL status code as defined in EtherCAT protocol </td></tr>
-  </table>
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-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>readable string </dd></dl>
-
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-<a class="anchor" id="ab87ddc03634dbaba946b6d96f2c77a5a"></a><!-- doxytag: member="ethercatprint.h::ec_sdoerror2string" ref="ab87ddc03634dbaba946b6d96f2c77a5a" args="(uint16 sdoerrorcode)" -->
-<div class="memitem">
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-          <td>(</td>
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-<p>Look up text string that belongs to SoE error code.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">errorcode</td><td>= SoE error code as defined in EtherCAT protocol </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>readable string </dd></dl>
-
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-<a class="anchor" id="a4a692aad76ae3f9720ab593651174788"></a><!-- doxytag: member="ethercatprint.h::ecx_elist2string" ref="a4a692aad76ae3f9720ab593651174788" args="(ecx_contextt *context)" -->
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-          <td class="paramname"><em>context</em></td><td>)</td>
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-<p>Look up error in ec_errorlist and convert to text string.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>readable string </dd></dl>
-
-</div>
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-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
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doc/html/ethercatsoe_8c.html

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-<a href="#nested-classes">Data Structures</a> &#124;
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-
-<p>Servo over EtherCAT (SoE) Module.  
-<a href="#details">More...</a></p>
-<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
-<code>#include &lt;string.h&gt;</code><br/>
-<code>#include &quot;osal.h&quot;</code><br/>
-<code>#include &quot;oshw.h&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercattype_8h.html">ethercattype.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatbase_8h.html">ethercatbase.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatmain_8h.html">ethercatmain.h</a>&quot;</code><br/>
-<code>#include &quot;<a class="el" href="ethercatsoe_8h.html">ethercatsoe.h</a>&quot;</code><br/>
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-<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#a55ce8a3abd460cd12e77611e654a87e4">EC_SOE_MAX_DRIVES</a>&#160;&#160;&#160;8</td></tr>
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-Functions</h2></td></tr>
-<tr><td class="memItemLeft" align="right" valign="top">PACKED_END void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#a061df11eda95634e5524ccd9d2d312ea">ecx_SoEerror</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 Slave, uint16 idn, uint16 Error)</td></tr>
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-</table>
-<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
-<div class="textblock"><p>Servo over EtherCAT (SoE) Module. </p>
-</div><hr/><h2>Define Documentation</h2>
-<a class="anchor" id="a55ce8a3abd460cd12e77611e654a87e4"></a><!-- doxytag: member="ethercatsoe.c::EC_SOE_MAX_DRIVES" ref="a55ce8a3abd460cd12e77611e654a87e4" args="" -->
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-
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-<hr/><h2>Function Documentation</h2>
-<a class="anchor" id="acb454e12b2034f0121a534de57b0e869"></a><!-- doxytag: member="ethercatsoe.c::ec_readIDNmap" ref="acb454e12b2034f0121a534de57b0e869" args="(uint16 slave, int *Osize, int *Isize)" -->
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-          <td class="paramname"><em>slave</em>, </td>
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-          <td>(</td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">void *&#160;</td>
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-
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-<a class="anchor" id="a99875a86cc956e9de8a5753a3107be5b"></a><!-- doxytag: member="ethercatsoe.c::ecx_readIDNmap" ref="a99875a86cc956e9de8a5753a3107be5b" args="(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)" -->
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-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>Osize</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
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-        <tr>
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-<p>SoE read AT and MTD mapping.</p>
-<p>SoE has standard indexes defined for mapping. This function tries to read them and collect a full input and output mapping size of designated slave.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Osize</td><td>= Size in bits of output mapping (MTD) found </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Isize</td><td>= Size in bits of input mapping (AT) found </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>&gt;0 if mapping succesful. </dd></dl>
-
-</div>
-</div>
-<a class="anchor" id="a061df11eda95634e5524ccd9d2d312ea"></a><!-- doxytag: member="ethercatsoe.c::ecx_SoEerror" ref="a061df11eda95634e5524ccd9d2d312ea" args="(ecx_contextt *context, uint16 Slave, uint16 idn, uint16 Error)" -->
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-<p>Report SoE error.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">idn</td><td>= IDN that generated error </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">Error</td><td>= Error code, see EtherCAT documentation for list </td></tr>
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-<p>The IDN object of the selected slave and DriveNo is read. If a response is larger than the mailbox size then the response is segmented. The function will combine all segments and copy them to the parameter buffer.</p>
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-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">driveNo</td><td>= Drive number in slave </td></tr>
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-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to parameter buffer </td></tr>
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-<p>SoE write, blocking.</p>
-<p>The IDN object of the selected slave and DriveNo is written. If a response is larger than the mailbox size then the response is segmented.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">driveNo</td><td>= Drive number in slave </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">elementflags</td><td>= Flags to select what properties of IDN are to be transfered. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">idn</td><td>= IDN. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">psize</td><td>= Size in bytes of parameter buffer. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to parameter buffer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout in us, standard is EC_TIMEOUTRXM </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
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-<hr/><h2>Function Documentation</h2>
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-          <td class="memname">int ecx_readIDNmap </td>
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-          <td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramname"><em>Osize</em>, </td>
-        </tr>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int *&#160;</td>
-          <td class="paramname"><em>Isize</em>&#160;</td>
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-<p>SoE read AT and MTD mapping.</p>
-<p>SoE has standard indexes defined for mapping. This function tries to read them and collect a full input and output mapping size of designated slave.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Osize</td><td>= Size in bits of output mapping (MTD) found </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">Isize</td><td>= Size in bits of input mapping (AT) found </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>&gt;0 if mapping succesful. </dd></dl>
-
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-          <td class="paramkey"></td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint8&#160;</td>
-          <td class="paramname"><em>driveNo</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint8&#160;</td>
-          <td class="paramname"><em>elementflags</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>idn</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>timeout</em>&#160;</td>
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-<p>SoE read, blocking.</p>
-<p>The IDN object of the selected slave and DriveNo is read. If a response is larger than the mailbox size then the response is segmented. The function will combine all segments and copy them to the parameter buffer.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">driveNo</td><td>= Drive number in slave </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">elementflags</td><td>= Flags to select what properties of IDN are to be transfered. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">idn</td><td>= IDN. </td></tr>
-    <tr><td class="paramdir">[in,out]</td><td class="paramname">psize</td><td>= Size in bytes of parameter buffer, returns bytes read from SoE. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to parameter buffer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout in us, standard is EC_TIMEOUTRXM </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
-</div>
-</div>
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-          <td>(</td>
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-          <td class="paramname"><em>context</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>slave</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint8&#160;</td>
-          <td class="paramname"><em>driveNo</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint8&#160;</td>
-          <td class="paramname"><em>elementflags</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">uint16&#160;</td>
-          <td class="paramname"><em>idn</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
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-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>p</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>timeout</em>&#160;</td>
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-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
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-<div class="memdoc">
-<p>SoE write, blocking.</p>
-<p>The IDN object of the selected slave and DriveNo is written. If a response is larger than the mailbox size then the response is segmented.</p>
-<dl><dt><b>Parameters:</b></dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">driveNo</td><td>= Drive number in slave </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">elementflags</td><td>= Flags to select what properties of IDN are to be transfered. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">idn</td><td>= IDN. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">psize</td><td>= Size in bytes of parameter buffer. </td></tr>
-    <tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to parameter buffer </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout in us, standard is EC_TIMEOUTRXM </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="return"><dt><b>Returns:</b></dt><dd>Workcounter from last slave response </dd></dl>
-
-</div>
-</div>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:23 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
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-    <ul class="tablist">
-      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
-      <li><a href="annotated.html"><span>Data&#160;Structures</span></a></li>
-      <li class="current"><a href="files.html"><span>Files</span></a></li>
-    </ul>
-  </div>
-  <div id="navrow2" class="tabs2">
-    <ul class="tablist">
-      <li class="current"><a href="files.html"><span>File&#160;List</span></a></li>
-      <li><a href="globals.html"><span>Globals</span></a></li>
-    </ul>
-  </div>
-</div>
-<div class="header">
-  <div class="headertitle">
-<div class="title">File List</div>  </div>
-</div>
-<div class="contents">
-<div class="textblock">Here is a list of all files with brief descriptions:</div><table>
-  <tr><td class="indexkey"><a class="el" href="ebox_8c.html">ebox.c</a></td><td class="indexvalue">Example code for Simple Open EtherCAT master </td></tr>
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-  <tr><td class="indexkey"><a class="el" href="ethercatbase_8c.html">ethercatbase.c</a></td><td class="indexvalue">Base EtherCAT functions </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatbase_8h.html">ethercatbase.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatbase_8c.html" title="Base EtherCAT functions.">ethercatbase.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatcoe_8c.html">ethercatcoe.c</a></td><td class="indexvalue">CAN over EtherCAT (CoE) module </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatcoe_8h.html">ethercatcoe.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatcoe_8c.html" title="CAN over EtherCAT (CoE) module.">ethercatcoe.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatconfig_8c.html">ethercatconfig.c</a></td><td class="indexvalue">Configuration module for EtherCAT master </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatconfig_8h.html">ethercatconfig.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatconfig_8c.html" title="Configuration module for EtherCAT master.">ethercatconfig.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatconfiglist_8h.html">ethercatconfiglist.h</a></td><td class="indexvalue">DEPRICATED Configuration list of known EtherCAT slave devices </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatdc_8c.html">ethercatdc.c</a></td><td class="indexvalue">Distributed Clock EtherCAT functions </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatdc_8h.html">ethercatdc.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatdc_8c.html" title="Distributed Clock EtherCAT functions.">ethercatdc.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatfoe_8c.html">ethercatfoe.c</a></td><td class="indexvalue">File over EtherCAT (FoE) module </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatfoe_8h.html">ethercatfoe.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatfoe_8c.html" title="File over EtherCAT (FoE) module.">ethercatfoe.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatmain_8c.html">ethercatmain.c</a></td><td class="indexvalue">Main EtherCAT functions </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatmain_8h.html">ethercatmain.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatmain_8c.html" title="Main EtherCAT functions.">ethercatmain.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatprint_8c.html">ethercatprint.c</a></td><td class="indexvalue">Module to convert EtherCAT errors to readable messages </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatprint_8h.html">ethercatprint.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatprint_8c.html" title="Module to convert EtherCAT errors to readable messages.">ethercatprint.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatsoe_8c.html">ethercatsoe.c</a></td><td class="indexvalue">Servo over EtherCAT (SoE) Module </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercatsoe_8h.html">ethercatsoe.h</a></td><td class="indexvalue">Headerfile for <a class="el" href="ethercatsoe_8c.html" title="Servo over EtherCAT (SoE) Module.">ethercatsoe.c</a> </td></tr>
-  <tr><td class="indexkey"><a class="el" href="ethercattype_8h.html">ethercattype.h</a></td><td class="indexvalue">General typedefs and defines for EtherCAT </td></tr>
-  <tr><td class="indexkey"><a class="el" href="red__test_8c.html">red_test.c</a></td><td class="indexvalue">Example code for Simple Open EtherCAT master </td></tr>
-  <tr><td class="indexkey"><a class="el" href="simple__test_8c.html">simple_test.c</a></td><td class="indexvalue">Example code for Simple Open EtherCAT master </td></tr>
-  <tr><td class="indexkey"><a class="el" href="slaveinfo_8c.html">slaveinfo.c</a></td><td class="indexvalue">Example code for Simple Open EtherCAT master </td></tr>
-</table>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:24 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
-</body>
-</html>

doc/html/functions.html

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-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
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doc/html/functions_0x62.html

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-<!-- Generated by Doxygen 1.7.4 -->
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-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
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doc/html/functions_0x63.html

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-<div class="contents">
-<div class="textblock">Here is a list of all struct and union fields with links to the structures/unions they belong to:</div>
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-<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
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doc/html/functions_0x64.html

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doc/html/functions_0x65.html

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-<a href="http://www.doxygen.org/index.html">
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doc/html/functions_0x70.html

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-<a href="http://www.doxygen.org/index.html">
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-</body>
-</html>

doc/html/functions_0x72.html

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-<div class="textblock">Here is a list of all struct and union fields with links to the structures/unions they belong to:</div>
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-<div class="textblock">Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:</div>
-
-<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
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-<a href="http://www.doxygen.org/index.html">
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doc/html/globals_0x68.html

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-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
-</body>
-</html>

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-, <a class="el" href="ebox_8c.html#abd49ea7d1a34c36e74ff633f727a6260">ebox.c</a>
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-<a href="http://www.doxygen.org/index.html">
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-      <li><a href="globals_type.html"><span>Typedefs</span></a></li>
-      <li><a href="globals_enum.html"><span>Enumerations</span></a></li>
-      <li><a href="globals_eval.html"><span>Enumerator</span></a></li>
-      <li><a href="globals_defs.html"><span>Defines</span></a></li>
-    </ul>
-  </div>
-  <div id="navrow4" class="tabs3">
-    <ul class="tablist">
-      <li><a href="globals.html#index_a"><span>a</span></a></li>
-      <li><a href="globals_0x63.html#index_c"><span>c</span></a></li>
-      <li><a href="globals_0x64.html#index_d"><span>d</span></a></li>
-      <li><a href="globals_0x65.html#index_e"><span>e</span></a></li>
-      <li><a href="globals_0x67.html#index_g"><span>g</span></a></li>
-      <li><a href="globals_0x68.html#index_h"><span>h</span></a></li>
-      <li><a href="globals_0x69.html#index_i"><span>i</span></a></li>
-      <li><a href="globals_0x6c.html#index_l"><span>l</span></a></li>
-      <li><a href="globals_0x6d.html#index_m"><span>m</span></a></li>
-      <li><a href="globals_0x6e.html#index_n"><span>n</span></a></li>
-      <li class="current"><a href="globals_0x6f.html#index_o"><span>o</span></a></li>
-      <li><a href="globals_0x70.html#index_p"><span>p</span></a></li>
-      <li><a href="globals_0x72.html#index_r"><span>r</span></a></li>
-      <li><a href="globals_0x73.html#index_s"><span>s</span></a></li>
-      <li><a href="globals_0x74.html#index_t"><span>t</span></a></li>
-      <li><a href="globals_0x75.html#index_u"><span>u</span></a></li>
-      <li><a href="globals_0x77.html#index_w"><span>w</span></a></li>
-    </ul>
-  </div>
-</div>
-<div class="contents">
-<div class="textblock">Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:</div>
-
-<h3><a class="anchor" id="index_o"></a>- o -</h3><ul>
-<li>ob
-: <a class="el" href="ebox_8c.html#ac7d30da33fc2242eb2cafaea05d3f8b8">ebox.c</a>
-, <a class="el" href="eepromtool_8c.html#aef62f3ff430568cf146415ae816d76f8">eepromtool.c</a>
-, <a class="el" href="red__test_8c.html#aef62f3ff430568cf146415ae816d76f8">red_test.c</a>
-</li>
-<li>ob2
-: <a class="el" href="ebox_8c.html#a6b411a5fbb3b39e278481486d40f3be0">ebox.c</a>
-, <a class="el" href="red__test_8c.html#a575d3275f3b4dcc7a07237f400eece30">red_test.c</a>
-</li>
-<li>ob3
-: <a class="el" href="ebox_8c.html#ad97769650501b7ec6c90c8cd63f9ff77">ebox.c</a>
-</li>
-<li>ODlist
-: <a class="el" href="slaveinfo_8c.html#ae1e48e874936243e9edeab1f7a96dd29">slaveinfo.c</a>
-</li>
-<li>OElist
-: <a class="el" href="slaveinfo_8c.html#a65f75866b1c783f9afc422afd033f146">slaveinfo.c</a>
-</li>
-<li>os
-: <a class="el" href="ebox_8c.html#a0c98ab56e4779bc5f994fdff60723115">ebox.c</a>
-, <a class="el" href="eepromtool_8c.html#a0c98ab56e4779bc5f994fdff60723115">eepromtool.c</a>
-, <a class="el" href="red__test_8c.html#a0c98ab56e4779bc5f994fdff60723115">red_test.c</a>
-</li>
-<li>out_EBOX
-: <a class="el" href="ebox_8c.html#a61c98aa97abe433ae56d7ece59d380ab">ebox.c</a>
-</li>
-<li>output_bin()
-: <a class="el" href="eepromtool_8c.html#a0ac3cf2113cbd77624e88b0556f72ad8">eepromtool.c</a>
-</li>
-<li>output_cvs()
-: <a class="el" href="ebox_8c.html#a4d2c1cf3b40ef06393de93b89496fe48">ebox.c</a>
-</li>
-<li>output_intelhex()
-: <a class="el" href="eepromtool_8c.html#ae6e853a65189c39f04ed0342f27ede15">eepromtool.c</a>
-</li>
-<li>ow
-: <a class="el" href="eepromtool_8c.html#afb70173e508b80fc1adb457dacefa9c6">eepromtool.c</a>
-</li>
-</ul>
-</div>
-<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 11 2015 20:44:24 for SOEM by&#160;
-<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.4 </small></address>
-</body>
-</html>