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ethercatbase.c File Reference
Functions

ethercatbase.c File Reference

Base EtherCAT functions. More...

Go to the source code of this file.

Functions

static void ecx_writedatagramdata (void *datagramdata, ec_cmdtype com, uint16 length, const void *data)
 Write data to EtherCAT datagram.
int ecx_setupdatagram (ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
 Generate and set EtherCAT datagram in a standard ethernet frame.
int ecx_adddatagram (ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
 Add EtherCAT datagram to a standard ethernet frame with existing datagram(s).
int ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 BRW "broadcast write" primitive.
int ecx_BRD (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 BRD "broadcast read" primitive.
int ecx_APRD (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 APRD "auto increment address read" primitive.
int ecx_ARMW (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 APRMW "auto increment address read, multiple write" primitive.
int ecx_FRMW (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 FPRMW "configured address read, multiple write" primitive.
uint16 ecx_APRDw (ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
 APRDw "auto increment address read" word return primitive.
int ecx_FPRD (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 FPRD "configured address read" primitive.
uint16 ecx_FPRDw (ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
 FPRDw "configured address read" word return primitive.
int ecx_APWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 APWR "auto increment address write" primitive.
int ecx_APWRw (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
 APWRw "auto increment address write" word primitive.
int ecx_FPWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
 FPWR "configured address write" primitive.
int ecx_FPWRw (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
 FPWR "configured address write" primitive.
int ecx_LRW (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
 LRW "logical memory read / write" primitive.
int ecx_LRD (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
 LRD "logical memory read" primitive.
int ecx_LWR (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
 LWR "logical memory write" primitive.
int ecx_LRWDC (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
 LRW "logical memory read / write" primitive plus Clock Distribution.

Detailed Description

Base EtherCAT functions.

Setting up a datagram in an ethernet frame. EtherCAT datagram primitives, broadcast, auto increment, configured and logical addressed data transfers. All base transfers are blocking, so wait for the frame to be returned to the master or timeout. If this is not acceptable build your own datagrams and use the functions from nicdrv.c.

Definition in file ethercatbase.c.

Function Documentation

int ecx_adddatagram ( ecx_portt *  port,
void *  frame,
uint8  com,
uint8  idx,
boolean  more,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data 
)

Add EtherCAT datagram to a standard ethernet frame with existing datagram(s).

Parameters:
[in]port= port context struct
[out]frame= framebuffer
[in]com= command
[in]idx= index used for TX and RX buffers
[in]more= TRUE if still more datagrams to follow
[in]ADP= Address Position
[in]ADO= Address Offset
[in]length= length of datagram excluding EtherCAT header
[in]data= databuffer to be copied in datagram
Returns:
Offset to data in rx frame, usefull to retrieve data after RX.

Definition at line 106 of file ethercatbase.c.

int ecx_APRD ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

APRD "auto increment address read" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, each slave ++, slave that has 0 executes
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[out]data= databuffer to put slave data in
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 217 of file ethercatbase.c.

uint16 ecx_APRDw ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
int  timeout 
)

APRDw "auto increment address read" word return primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, each slave ++, slave that has 0 reads.
[in]ADO= Address Offset, slave memory address
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
word data from slave

Definition at line 298 of file ethercatbase.c.

int ecx_APWR ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

APWR "auto increment address write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, each slave ++, slave that has 0 writes.
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[in]data= databuffer to write to slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 362 of file ethercatbase.c.

int ecx_APWRw ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  data,
int  timeout 
)

APWRw "auto increment address write" word primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, each slave ++, slave that has 0 writes.
[in]ADO= Address Offset, slave memory address
[in]data= word data to write to slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 384 of file ethercatbase.c.

int ecx_ARMW ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

APRMW "auto increment address read, multiple write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, each slave ++, slave that has 0 reads, following slaves write.
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[out]data= databuffer to put slave data in
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 245 of file ethercatbase.c.

int ecx_BRD ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

BRD "broadcast read" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, normally 0
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[out]data= databuffer to put slave data in
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 185 of file ethercatbase.c.

int ecx_BWR ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

BRW "broadcast write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, normally 0
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[in]data= databuffer to be written to slaves
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 158 of file ethercatbase.c.

int ecx_FPRD ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

FPRD "configured address read" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, slave that has address reads.
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[out]data= databuffer to put slave data in
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 318 of file ethercatbase.c.

uint16 ecx_FPRDw ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
int  timeout 
)

FPRDw "configured address read" word return primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, slave that has address reads.
[in]ADO= Address Offset, slave memory address
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
word data from slave

Definition at line 343 of file ethercatbase.c.

int ecx_FPWR ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

FPWR "configured address write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, slave that has address writes.
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[in]data= databuffer to write to slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 399 of file ethercatbase.c.

int ecx_FPWRw ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  data,
int  timeout 
)

FPWR "configured address write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, slave that has address writes.
[in]ADO= Address Offset, slave memory address
[in]data= word to write to slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 421 of file ethercatbase.c.

int ecx_FRMW ( ecx_portt *  port,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data,
int  timeout 
)

FPRMW "configured address read, multiple write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]ADP= Address Position, slave that has address reads, following slaves write.
[in]ADO= Address Offset, slave memory address
[in]length= length of databuffer
[out]data= databuffer to put slave data in
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 273 of file ethercatbase.c.

int ecx_LRD ( ecx_portt *  port,
uint32  LogAdr,
uint16  length,
void *  data,
int  timeout 
)

LRD "logical memory read" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]LogAdr= Logical memory address
[in]length= length of bytes to read from slave.
[out]data= databuffer to read from slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 461 of file ethercatbase.c.

int ecx_LRW ( ecx_portt *  port,
uint32  LogAdr,
uint16  length,
void *  data,
int  timeout 
)

LRW "logical memory read / write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]LogAdr= Logical memory address
[in]length= length of databuffer
[in,out]data= databuffer to write to and read from slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 435 of file ethercatbase.c.

int ecx_LRWDC ( ecx_portt *  port,
uint32  LogAdr,
uint16  length,
void *  data,
uint16  DCrs,
int64 *  DCtime,
int  timeout 
)

LRW "logical memory read / write" primitive plus Clock Distribution.

Blocking. Frame consists of two datagrams, one LRW and one FPRMW.

Parameters:
[in]port= port context struct
[in]LogAdr= Logical memory address
[in]length= length of databuffer
[in,out]data= databuffer to write to and read from slave.
[in]DCrs= Distributed Clock reference slave address.
[out]DCtime= DC time read from reference slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 512 of file ethercatbase.c.

int ecx_LWR ( ecx_portt *  port,
uint32  LogAdr,
uint16  length,
void *  data,
int  timeout 
)

LWR "logical memory write" primitive.

Blocking.

Parameters:
[in]port= port context struct
[in]LogAdr= Logical memory address
[in]length= length of databuffer
[in]data= databuffer to write to slave.
[in]timeout= timeout in us, standard is EC_TIMEOUTRET
Returns:
Workcounter or EC_NOFRAME

Definition at line 487 of file ethercatbase.c.

int ecx_setupdatagram ( ecx_portt *  port,
void *  frame,
uint8  com,
uint8  idx,
uint16  ADP,
uint16  ADO,
uint16  length,
void *  data 
)

Generate and set EtherCAT datagram in a standard ethernet frame.

Parameters:
[in]port= port context struct
[out]frame= framebuffer
[in]com= command
[in]idx= index used for TX and RX buffers
[in]ADP= Address Position
[in]ADO= Address Offset
[in]length= length of datagram excluding EtherCAT header
[in]data= databuffer to be copied in datagram
Returns:
always 0

Definition at line 68 of file ethercatbase.c.

static void ecx_writedatagramdata ( void *  datagramdata,
ec_cmdtype  com,
uint16  length,
const void *  data 
) [static]

Write data to EtherCAT datagram.

Parameters:
[out]datagramdata= data part of datagram
[in]com= command
[in]length= length of databuffer
[in]data= databuffer to be copied into datagram

Definition at line 31 of file ethercatbase.c.

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