EtherCAT Coe对象创建与通信

前言

EtherCAT协议栈生成参考https://blog.csdn.net/qq_42039294/article/details/144061669

本文默认大家有EtherCAT基础的移植经验

使用SSC工具生成XML

首先确保COE是开启的
在这里插入图片描述
打开表格，编辑内容如下
更多的数据类型参考《Application Note ET9300 (EtherCAT Slave Stack Code)》，第十三节OD TOOL

填充读写函数

生成工程，应用层源文件中多出如下两个函数，这两个函数的函数名就是上面表格中填写的内容

UINT8 COE_VAR_Read(UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM * pData, UINT8 bCompleteAccess)
UINT8 COE_VAR_Write(UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM * pData, UINT8 bCompleteAccess)

填充内容如下

/
/**
\param     index               index of the requested object.
\param     subindex            subindex of the requested object.
\param     objSize             size of the requested object data, calculated with OBJ_GetObjectLength
\param     pData               Pointer to the buffer where the data can be copied to
\param     bCompleteAccess     Indicates if a complete read of all subindices of the
                               object shall be done or not

 \return    result of the read operation (0 (success) or an abort code (ABORTIDX_.... defined in
            sdosrv.h))
 *////
UINT8 COE_VAR_Read(UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM * pData, UINT8 bCompleteAccess) {
	switch(subindex)
	{
		case 0: *((uint16_t *)pData) = CONFIG_GROUP0x8000.u16SubIndex0;
						break;
		case 1: *((uint32_t *)pData) = CONFIG_GROUP0x8000.Var1;
						break;
		case 2: *((uint32_t *)pData) = CONFIG_GROUP0x8000.Var2;
						break;
	}
	SEGGER_RTT_printf(0, "COE_VAR_Read index:%04x subindex:%02x data:%d, ca = %d\n", index, subindex, *((uint32_t *)pData), bCompleteAccess);

	return 0;
}
/
/**
\param     index               index of the requested object.
\param     subindex            subindex of the requested object.
\param     objSize             size of the requested object data, calculated with OBJ_GetObjectLength
\param     pData               Pointer to the buffer where the data can be copied to
\param     bCompleteAccess     Indicates if a complete read of all subindices of the
                               object shall be done or not

 \return    result of the read operation (0 (success) or an abort code (ABORTIDX_.... defined in
            sdosrv.h))
 *////
UINT8 COE_VAR_Write(UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM * pData, UINT8 bCompleteAccess) {
	switch(subindex)
	{
		case 0: CONFIG_GROUP0x8000.u16SubIndex0 = *((uint16_t *)pData);
						break;
		case 1: CONFIG_GROUP0x8000.Var1 = *((uint32_t *)pData);
						break;
		case 2: CONFIG_GROUP0x8000.Var2 = *((uint32_t *)pData);
						break;
	}
	SEGGER_RTT_printf(0, "COE_VAR_Write index:%04x subindex:%02x data:%d, ca = %d\n", index, subindex, *((uint32_t *)pData), bCompleteAccess);
	return 0;
}