gt-ros-pkg · Timple · Oct 11, 2016 · Feb 20, 2017 · Mar 8, 2017 · Feb 22, 2019
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -52,7 +52,7 @@ catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ethercat_soem
 #  CATKIN_DEPENDS other_catkin_pkg
- DEPENDS pthread rt
+ DEPENDS 
 )
 
 ###########
@@ -130,11 +130,11 @@ target_link_libraries(slaveinfo ethercat_soem)
 # )
 
 ## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES

diff --git a/include/ethercat_soem/ethercatbase.h b/include/ethercat_soem/ethercatbase.h
@@ -1,12 +1,13 @@
 /*
- * Simple Open EtherCAT Master Library 
+ * Simple Open EtherCAT Master Library
  *
  * File    : ethercatbase.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
+ * Version : 1.3.1
+ * Date    : 11-03-2015
+ * Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2015 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2014-2015 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
@@ -38,9 +39,9 @@
  * (www.beckhoff.com).
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatbase.c 
+ * Headerfile for ethercatbase.c
  */
 
 #ifndef _ethercatbase_

diff --git a/include/ethercat_soem/ethercatcoe.h b/include/ethercat_soem/ethercatcoe.h
@@ -1,12 +1,13 @@
 /*
- * Simple Open EtherCAT Master Library 
+ * Simple Open EtherCAT Master Library
  *
  * File    : ethercatcoe.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
+ * Version : 1.3.1
+ * Date    : 11-03-2015
+ * Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2015 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2014-2015 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
@@ -38,9 +39,9 @@
  * (www.beckhoff.com).
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatcoe.c 
+ * Headerfile for ethercatcoe.c
  */
 
 #ifndef _ethercatcoe_
@@ -58,7 +59,7 @@ extern "C"
 #define EC_MAXOELIST   256
 
 /* Storage for object description list */
-typedef struct 
+typedef struct
 {
    /** slave number */
    uint16  Slave;
@@ -77,7 +78,7 @@ typedef struct
 } ec_ODlistt;
 
 /* storage for object list entry information */
-typedef struct 
+typedef struct
 {
    /** number of entries in list */
    uint16 Entries;
@@ -102,7 +103,7 @@ int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
 int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
 int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
 int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
-int ec_readPDOmapCA(uint16 Slave, int *Osize, int *Isize);
+int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
 int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
 int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
 int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
@@ -117,7 +118,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
 int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
 int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
 int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
-int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
+int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize);
 int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
 int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
 int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);

diff --git a/include/ethercat_soem/ethercatconfig.h b/include/ethercat_soem/ethercatconfig.h
@@ -1,12 +1,13 @@
 /*
- * Simple Open EtherCAT Master Library 
+ * Simple Open EtherCAT Master Library
  *
  * File    : ethercatconfig.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
+ * Version : 1.3.1
+ * Date    : 11-03-2015
+ * Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2015 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2014-2015 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
@@ -38,9 +39,9 @@
  * (www.beckhoff.com).
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatconfig.c 
+ * Headerfile for ethercatconfig.c
  */
 
 #ifndef _ethercatconfig_

diff --git a/include/ethercat_soem/ethercatconfiglist.h b/include/ethercat_soem/ethercatconfiglist.h
@@ -1,12 +1,13 @@
 /*
- * Simple Open EtherCAT Master Library 
+ * Simple Open EtherCAT Master Library
  *
  * File    : ethercatconfiglist.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
+ * Version : 1.3.1
+ * Date    : 11-03-2015
+ * Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2015 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2014-2015 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
@@ -46,16 +47,23 @@
  * in the list. Otherwise the configuration info is read directly from the slave
  * EEPROM (SII or Slave Information Interface).
  */
+#ifndef _ethercatconfiglist_
+#define _ethercatconfiglist_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
 
 /*
-   explanation of dev:                                   
-    1: static device with no IO mapping ie EK1100        
-    2: input device no mailbox ie simple IO device       
-    3: output device no mailbox                          
-    4: input device with mailbox configuration           
-    5: output device with mailbox configuration          
-    6: input/output device no mailbox                    
-    7: input.output device with mailbox configuration           
+   explanation of dev:
+    1: static device with no IO mapping ie EK1100
+    2: input device no mailbox ie simple IO device
+    3: output device no mailbox
+    4: input device with mailbox configuration
+    5: output device with mailbox configuration
+    6: input/output device no mailbox
+    7: input.output device with mailbox configuration
 */
 #define EC_CONFIGEND 0xffffffff
 
@@ -85,3 +93,8 @@ ec_configlist_t ec_configlist[] = {
       {/*Man=*/0x00000002,/*ID=*/0x13ed3052,/*Name=*/"EL5101"    ,/*dtype=*/7,/*Ibits=*/40,/*Obits=*/24,/*SM2a*/0x1000,/*SM2f*/0x00010024,/*SM3a*/0x1100,/*SM3f*/0x00010020,/*FM0ac*/1,/*FM1ac*/1},
       {/*Man=*/EC_CONFIGEND,/*ID=*/0x00000000,/*Name=*/""        ,/*dtype=*/0,/*Ibits=*/ 0,/*Obits=*/ 0,/*SM2a*/     0,/*SM2f*/         0,/*SM3a*/     0,/*SM3f*/         0,/*FM0ac*/0,/*FM1ac*/0}
 };
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/include/ethercat_soem/ethercatdc.h b/include/ethercat_soem/ethercatdc.h
@@ -1,12 +1,13 @@
 /*
- * Simple Open EtherCAT Master Library 
+ * Simple Open EtherCAT Master Library
  *
  * File    : ethercatdc.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
+ * Version : 1.3.1
+ * Date    : 11-03-2015
+ * Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2015 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2014-2015 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
@@ -38,9 +39,9 @@
  * (www.beckhoff.com).
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatdc.c 
+ * Headerfile for ethercatdc.c
  */
 
 #ifndef _EC_ECATDC_H
@@ -53,13 +54,13 @@ extern "C"
 
 #ifdef EC_VER1
 boolean ec_configdc();
-void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift);
-void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift);
+void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift);
+void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift);
 #endif
 
 boolean ecx_configdc(ecx_contextt *context);
-void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift);
-void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift);
+void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift);
+void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift);
 
 #ifdef __cplusplus
 }

diff --git a/include/ethercat_soem/ethercatfoe.h b/include/ethercat_soem/ethercatfoe.h
@@ -1,12 +1,13 @@
 /*
- * Simple Open EtherCAT Master Library 
+ * Simple Open EtherCAT Master Library
  *
  * File    : ethercatfoe.h
- * Version : 1.3.0
- * Date    : 24-02-2013
- * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
- * Copyright (C) 2005-2013 Arthur Ketels
- * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
+ * Version : 1.3.1
+ * Date    : 11-03-2015
+ * Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2015 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2014-2015 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
@@ -38,9 +39,9 @@
  * (www.beckhoff.com).
  */
 
-/** \file 
+/** \file
  * \brief
- * Headerfile for ethercatfoe.c 
+ * Headerfile for ethercatfoe.c
  */
 
 #ifndef _ethercatfoe_