EthercatManager.cpp File Reference

#include <CiA402/EthercatManager.h>
#include <CiA402/LogComponent.h>
#include <algorithm>
#include <chrono>
#include <limits>
#include <thread>
#include <yarp/os/LogStream.h>

Include dependency graph for EthercatManager.cpp:

Go to the source code of this file.

Functions
constexpr uint32_t	mapEntry (uint16_t idx, uint8_t sub, uint8_t bits)
	Helper function to create a PDO mapping entry.

Function Documentation

mapEntry()

uint32_t mapEntry ( uint16_t idx, uint8_t sub, uint8_t bits )

constexpr

Helper function to create a PDO mapping entry.

EtherCAT PDO mappings use a 32-bit value that encodes:

• Bits 31-16: Object index (e.g., 0x6041 for statusword)
• Bits 15-8: Object subindex (usually 0x00)
• Bits 7-0: Size in bits (8, 16, 32, etc.)

Parameters

idx	Object index (16 bits)
sub	Object subindex (8 bits)
bits	Size of the object in bits (8 bits)

Returns

32-bit mapping entry for use in PDO configuration

Definition at line 30 of file EthercatManager.cpp.