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ethercatmain.c File Reference
Typedefs | Functions | Variables

ethercatmain.c File Reference

Main EtherCAT functions. More...

Go to the source code of this file.

Typedefs

typedef PACKED_BEGIN struct PACKED ec_eepromt
 record for ethercat eeprom communications
typedef PACKED_END
PACKED_BEGIN struct PACKED 		ec_mbxerrort
 mailbox error structure
typedef PACKED_END
PACKED_BEGIN struct PACKED 		ec_emcyt
 emergency request structure

Functions

ec_adaptert * ec_find_adapters (void)
 Create list over available network adapters.
void ec_free_adapters (ec_adaptert *adapter)
 Free dynamically allocated list over available network adapters.
void ecx_pusherror (ecx_contextt *context, const ec_errort *Ec)
 Pushes an error on the error list.
boolean ecx_poperror (ecx_contextt *context, ec_errort *Ec)
 Pops an error from the list.
boolean ecx_iserror (ecx_contextt *context)
 Check if error list has entries.
void ecx_packeterror (ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)
 Report packet error.
static void ecx_mbxerror (ecx_contextt *context, uint16 Slave, uint16 Detail)
 Report Mailbox Error.
static void ecx_mbxemergencyerror (ecx_contextt *context, uint16 Slave, uint16 ErrorCode, uint16 ErrorReg, uint8 b1, uint16 w1, uint16 w2)
 Report Mailbox Emergency Error.
int ecx_init (ecx_contextt *context, const char *ifname)
 Initialise lib in single NIC mode.
int ecx_init_redundant (ecx_contextt *context, ecx_redportt *redport, const char *ifname, char *if2name)
 Initialise lib in redundant NIC mode.
void ecx_close (ecx_contextt *context)
 Close lib.
uint8 ecx_siigetbyte (ecx_contextt *context, uint16 slave, uint16 address)
 Read one byte from slave EEPROM via cache.
int16 ecx_siifind (ecx_contextt *context, uint16 slave, uint16 cat)
 Find SII section header in slave EEPROM.
void ecx_siistring (ecx_contextt *context, char *str, uint16 slave, uint16 Sn)
 Get string from SII string section in slave EEPROM.
uint16 ecx_siiFMMU (ecx_contextt *context, uint16 slave, ec_eepromFMMUt *FMMU)
 Get FMMU data from SII FMMU section in slave EEPROM.
uint16 ecx_siiSM (ecx_contextt *context, uint16 slave, ec_eepromSMt *SM)
 Get SM data from SII SM section in slave EEPROM.
uint16 ecx_siiSMnext (ecx_contextt *context, uint16 slave, ec_eepromSMt *SM, uint16 n)
 Get next SM data from SII SM section in slave EEPROM.
int ecx_siiPDO (ecx_contextt *context, uint16 slave, ec_eepromPDOt *PDO, uint8 t)
 Get PDO data from SII PDO section in slave EEPROM.
int ecx_readstate (ecx_contextt *context)
 Read all slave states in ec_slave.
int ecx_writestate (ecx_contextt *context, uint16 slave)
 Write slave state, if slave = 0 then write to all slaves.
uint16 ecx_statecheck (ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout)
 Check actual slave state.
uint8 ec_nextmbxcnt (uint8 cnt)
 Get index of next mailbox counter value.
void ec_clearmbx (ec_mbxbuft *Mbx)
 Clear mailbox buffer.
int ecx_mbxempty (ecx_contextt *context, uint16 slave, int timeout)
 Check if IN mailbox of slave is empty.
int ecx_mbxsend (ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout)
 Write IN mailbox to slave.
int ecx_mbxreceive (ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout)
 Read OUT mailbox from slave.
void ecx_esidump (ecx_contextt *context, uint16 slave, uint8 *esibuf)
 Dump complete EEPROM data from slave in buffer.
uint32 ecx_readeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout)
 Read EEPROM from slave bypassing cache.
int ecx_writeeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout)
 Write EEPROM to slave bypassing cache.
int ecx_eeprom2master (ecx_contextt *context, uint16 slave)
 Set eeprom control to master.
int ecx_eeprom2pdi (ecx_contextt *context, uint16 slave)
 Set eeprom control to PDI.
uint64 ecx_readeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout)
 Read EEPROM from slave bypassing cache.
int ecx_writeeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
 Write EEPROM to slave bypassing cache.
uint64 ecx_readeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout)
 Read EEPROM from slave bypassing cache.
int ecx_writeeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout)
 Write EEPROM to slave bypassing cache.
void ecx_readeeprom1 (ecx_contextt *context, uint16 slave, uint16 eeproma)
 Read EEPROM from slave bypassing cache.
uint32 ecx_readeeprom2 (ecx_contextt *context, uint16 slave, int timeout)
 Read EEPROM from slave bypassing cache.
static void ecx_pushindex (ecx_contextt *context, uint8 idx, void *data, uint16 length)
 Push index of segmented LRD/LWR/LRW combination.
static int ecx_pullindex (ecx_contextt *context)
 Pull index of segmented LRD/LWR/LRW combination.
static void ecx_clearindex (ecx_contextt *context)
 Clear the idx stack.
static int ecx_main_send_processdata (ecx_contextt *context, uint8 group, boolean use_overlap_io)
 Transmit processdata to slaves.
int ecx_send_overlap_processdata_group (ecx_contextt *context, uint8 group)
 Transmit processdata to slaves.
int ecx_send_processdata_group (ecx_contextt *context, uint8 group)
 Transmit processdata to slaves.
int ecx_receive_processdata_group (ecx_contextt *context, uint8 group, int timeout)
 Receive processdata from slaves.
int ec_init (const char *ifname)
 Initialise lib in single NIC mode.
int ec_init_redundant (const char *ifname, char *if2name)
 Initialise lib in redundant NIC mode.
void ec_close (void)
 Close lib.
uint8 ec_siigetbyte (uint16 slave, uint16 address)
 Read one byte from slave EEPROM via cache.
int16 ec_siifind (uint16 slave, uint16 cat)
 Find SII section header in slave EEPROM.
void ec_siistring (char *str, uint16 slave, uint16 Sn)
 Get string from SII string section in slave EEPROM.
uint16 ec_siiFMMU (uint16 slave, ec_eepromFMMUt *FMMU)
 Get FMMU data from SII FMMU section in slave EEPROM.
uint16 ec_siiSM (uint16 slave, ec_eepromSMt *SM)
 Get SM data from SII SM section in slave EEPROM.
uint16 ec_siiSMnext (uint16 slave, ec_eepromSMt *SM, uint16 n)
 Get next SM data from SII SM section in slave EEPROM.
int ec_siiPDO (uint16 slave, ec_eepromPDOt *PDO, uint8 t)
 Get PDO data from SII PDO section in slave EEPROM.
int ec_readstate (void)
 Read all slave states in ec_slave.
int ec_writestate (uint16 slave)
 Write slave state, if slave = 0 then write to all slaves.
uint16 ec_statecheck (uint16 slave, uint16 reqstate, int timeout)
 Check actual slave state.
int ec_mbxempty (uint16 slave, int timeout)
 Check if IN mailbox of slave is empty.
int ec_mbxsend (uint16 slave, ec_mbxbuft *mbx, int timeout)
 Write IN mailbox to slave.
int ec_mbxreceive (uint16 slave, ec_mbxbuft *mbx, int timeout)
 Read OUT mailbox from slave.
void ec_esidump (uint16 slave, uint8 *esibuf)
 Dump complete EEPROM data from slave in buffer.
uint32 ec_readeeprom (uint16 slave, uint16 eeproma, int timeout)
 Read EEPROM from slave bypassing cache.
int ec_writeeeprom (uint16 slave, uint16 eeproma, uint16 data, int timeout)
 Write EEPROM to slave bypassing cache.
int ec_eeprom2master (uint16 slave)
 Set eeprom control to master.
uint64 ec_readeepromAP (uint16 aiadr, uint16 eeproma, int timeout)
 Read EEPROM from slave bypassing cache.
int ec_writeeepromAP (uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
 Write EEPROM to slave bypassing cache.
uint64 ec_readeepromFP (uint16 configadr, uint16 eeproma, int timeout)
 Read EEPROM from slave bypassing cache.
int ec_writeeepromFP (uint16 configadr, uint16 eeproma, uint16 data, int timeout)
 Write EEPROM to slave bypassing cache.
void ec_readeeprom1 (uint16 slave, uint16 eeproma)
 Read EEPROM from slave bypassing cache.
uint32 ec_readeeprom2 (uint16 slave, int timeout)
 Read EEPROM from slave bypassing cache.
int ec_send_processdata_group (uint8 group)
 Transmit processdata to slaves.
int ec_send_overlap_processdata_group (uint8 group)
 Transmit processdata to slaves.
int ec_receive_processdata_group (uint8 group, int timeout)
 Receive processdata from slaves.

Variables

PACKED_END ec_slavet ec_slave [EC_MAXSLAVE]
 Main slave data array.
int ec_slavecount
 number of slaves found on the network
ec_groupt ec_group [EC_MAXGROUP]
 slave group structure
static uint8 ec_esibuf [EC_MAXEEPBUF]
 cache for EEPROM read functions
static uint32 ec_esimap [EC_MAXEEPBITMAP]
 bitmap for filled cache buffer bytes
static ec_eringt ec_elist
 current slave for EEPROM cache buffer
static ec_SMcommtypet ec_SMcommtype [EC_MAX_MAPT]
 SyncManager Communication Type struct to store data of one slave.
static ec_PDOassignt ec_PDOassign [EC_MAX_MAPT]
 PDO assign struct to store data of one slave.
static ec_PDOdesct ec_PDOdesc [EC_MAX_MAPT]
 PDO description struct to store data of one slave.
static ec_eepromSMt ec_SM
 buffer for EEPROM SM data
static ec_eepromFMMUt ec_FMMU
 buffer for EEPROM FMMU data
boolean EcatError = FALSE
 Global variable TRUE if error available in error stack.
ecx_contextt ecx_context
 global struct to hold default master context

Detailed Description

Main EtherCAT functions.

Initialisation, state set and read, mailbox primitives, EEPROM primitives, SII reading and processdata exchange.

Defines ec_slave[]. All slave information is put in this structure. Needed for most user interaction with slaves.

Definition in file ethercatmain.c.

Typedef Documentation

typedef PACKED_BEGIN struct PACKED ec_eepromt

record for ethercat eeprom communications

typedef PACKED_END PACKED_BEGIN struct PACKED ec_emcyt

emergency request structure

typedef PACKED_END PACKED_BEGIN struct PACKED ec_mbxerrort

mailbox error structure

Function Documentation

void ec_clearmbx ( ec_mbxbuft *  Mbx )

Clear mailbox buffer.

Parameters:
[out]Mbx= Mailbox buffer to clear

Definition at line 920 of file ethercatmain.c.

void ec_close ( void   )

Close lib.

See also:
ecx_close

Definition at line 2045 of file ethercatmain.c.

int ec_eeprom2master ( uint16  slave )

Set eeprom control to master.

Only if set to PDI.

Parameters:
[in]slave= Slave number
Returns:
>0 if OK
See also:
ecx_eeprom2master

Definition at line 2240 of file ethercatmain.c.

void ec_esidump ( uint16  slave,
uint8 *  esibuf 
)

Dump complete EEPROM data from slave in buffer.

Parameters:
[in]slave= Slave number
[out]esibuf= EEPROM data buffer, make sure it is big enough.
See also:
ecx_esidump

Definition at line 2205 of file ethercatmain.c.

ec_adaptert* ec_find_adapters ( void   )

Create list over available network adapters.

Returns:
First element in list over available network adapters.

Definition at line 130 of file ethercatmain.c.

void ec_free_adapters ( ec_adaptert *  adapter )

Free dynamically allocated list over available network adapters.

Parameters:
[in]adapter= Struct holding adapter name, description and pointer to next.

Definition at line 143 of file ethercatmain.c.

int ec_init ( const char *  ifname )

Initialise lib in single NIC mode.

Parameters:
[in]ifname= Dev name, f.e. "eth0"
Returns:
>0 if OK
See also:
ecx_init

Definition at line 2026 of file ethercatmain.c.

int ec_init_redundant ( const char *  ifname,
char *  if2name 
)

Initialise lib in redundant NIC mode.

Parameters:
[in]ifname= Primary Dev name, f.e. "eth0"
[in]if2name= Secondary Dev name, f.e. "eth1"
Returns:
>0 if OK
See also:
ecx_init_redundant

Definition at line 2037 of file ethercatmain.c.

int ec_mbxempty ( uint16  slave,
int  timeout 
)

Check if IN mailbox of slave is empty.

Parameters:
[in]slave= Slave number
[in]timeout= Timeout in us
Returns:
>0 is success
See also:
ecx_mbxempty

Definition at line 2170 of file ethercatmain.c.

int ec_mbxreceive ( uint16  slave,
ec_mbxbuft *  mbx,
int  timeout 
)

Read OUT mailbox from slave.

Supports Mailbox Link Layer with repeat requests.

Parameters:
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns:
Work counter (>0 is success)
See also:
ecx_mbxreceive

Definition at line 2195 of file ethercatmain.c.

int ec_mbxsend ( uint16  slave,
ec_mbxbuft *  mbx,
int  timeout 
)

Write IN mailbox to slave.

Parameters:
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns:
Work counter (>0 is success)
See also:
ecx_mbxsend

Definition at line 2182 of file ethercatmain.c.

uint8 ec_nextmbxcnt ( uint8  cnt )

Get index of next mailbox counter value.

Used for Mailbox Link Layer.

Parameters:
[in]cnt= Mailbox counter value [0..7]
Returns:
next mailbox counter value

Definition at line 906 of file ethercatmain.c.

uint32 ec_readeeprom ( uint16  slave,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

Parameters:
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns:
EEPROM data 32bit
See also:
ecx_readeeprom

Definition at line 2217 of file ethercatmain.c.

void ec_readeeprom1 ( uint16  slave,
uint16  eeproma 
)

Read EEPROM from slave bypassing cache.

Parallel read step 1, make request to slave.

Parameters:
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
See also:
ecx_readeeprom1

Definition at line 2315 of file ethercatmain.c.

uint32 ec_readeeprom2 ( uint16  slave,
int  timeout 
)

Read EEPROM from slave bypassing cache.

Parallel read step 2, actual read from slave.

Parameters:
[in]slave= Slave number
[in]timeout= Timeout in us.
Returns:
EEPROM data 32bit
See also:
ecx_readeeprom2

Definition at line 2327 of file ethercatmain.c.

uint64 ec_readeepromAP ( uint16  aiadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

APRD method.

Parameters:
[in]aiadr= auto increment address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns:
EEPROM data 64bit or 32bit

Definition at line 2261 of file ethercatmain.c.

uint64 ec_readeepromFP ( uint16  configadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

FPRD method.

Parameters:
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns:
EEPROM data 64bit or 32bit
See also:
ecx_readeepromFP

Definition at line 2291 of file ethercatmain.c.

int ec_readstate ( void   )

Read all slave states in ec_slave.

Returns:
lowest state found
See also:
ecx_readstate

Definition at line 2135 of file ethercatmain.c.

int ec_receive_processdata_group ( uint8  group,
int  timeout 
)

Receive processdata from slaves.

Second part from ec_send_processdata(). Received datagrams are recombined with the processdata with help from the stack. If a datagram contains input processdata it copies it to the processdata structure.

Parameters:
[in]group= group number
[in]timeout= Timeout in us.
Returns:
Work counter.
See also:
ecx_receive_processdata_group

Definition at line 2376 of file ethercatmain.c.

int ec_send_overlap_processdata_group ( uint8  group )

Transmit processdata to slaves.

Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted in the overlapped IOmap. The outputs with the actual data, the inputs replace the output data in the returning frame. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters:
[in]context= context struct
[in]group= group number
Returns:
>0 if processdata is transmitted.
See also:
ecx_send_overlap_processdata_group

Definition at line 2362 of file ethercatmain.c.

int ec_send_processdata_group ( uint8  group )

Transmit processdata to slaves.

Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters:
[in]group= group number
Returns:
>0 if processdata is transmitted.
See also:
ecx_send_processdata_group

Definition at line 2344 of file ethercatmain.c.

int16 ec_siifind ( uint16  slave,
uint16  cat 
)

Find SII section header in slave EEPROM.

Parameters:
[in]slave= slave number
[in]cat= section category
Returns:
byte address of section at section length entry, if not available then 0
See also:
ecx_siifind

Definition at line 2069 of file ethercatmain.c.

uint16 ec_siiFMMU ( uint16  slave,
ec_eepromFMMUt *  FMMU 
)

Get FMMU data from SII FMMU section in slave EEPROM.

Parameters:
[in]slave= slave number
[out]FMMU= FMMU struct from SII, max. 4 FMMU's
Returns:
number of FMMU's defined in section
See also:
ecx_siiFMMU

Definition at line 2091 of file ethercatmain.c.

uint8 ec_siigetbyte ( uint16  slave,
uint16  address 
)

Read one byte from slave EEPROM via cache.

If the cache location is empty then a read request is made to the slave. Depending on the slave capabillities the request is 4 or 8 bytes.

Parameters:
[in]slave= slave number
[in]address= eeprom address in bytes (slave uses words)
Returns:
requested byte, if not available then 0xff
See also:
ecx_siigetbyte

Definition at line 2058 of file ethercatmain.c.

int ec_siiPDO ( uint16  slave,
ec_eepromPDOt *  PDO,
uint8  t 
)

Get PDO data from SII PDO section in slave EEPROM.

Parameters:
[in]slave= slave number
[out]PDO= PDO struct from SII
[in]t= 0=RXPDO 1=TXPDO
Returns:
mapping size in bits of PDO
See also:
ecx_siiPDO

Definition at line 2126 of file ethercatmain.c.

uint16 ec_siiSM ( uint16  slave,
ec_eepromSMt *  SM 
)

Get SM data from SII SM section in slave EEPROM.

Parameters:
[in]slave= slave number
[out]SM= first SM struct from SII
Returns:
number of SM's defined in section
See also:
ecx_siiSM

Definition at line 2102 of file ethercatmain.c.

uint16 ec_siiSMnext ( uint16  slave,
ec_eepromSMt *  SM,
uint16  n 
)

Get next SM data from SII SM section in slave EEPROM.

Parameters:
[in]slave= slave number
[out]SM= first SM struct from SII
[in]n= SM number
Returns:
>0 if OK
See also:
ecx_siiSMnext

Definition at line 2114 of file ethercatmain.c.

void ec_siistring ( char *  str,
uint16  slave,
uint16  Sn 
)

Get string from SII string section in slave EEPROM.

Parameters:
[out]str= requested string, 0x00 if not found
[in]slave= slave number
[in]Sn= string number
See also:
ecx_siistring

Definition at line 2080 of file ethercatmain.c.

uint16 ec_statecheck ( uint16  slave,
uint16  reqstate,
int  timeout 
)

Check actual slave state.

This is a blocking function.

Parameters:
[in]slave= Slave number, 0 = all slaves
[in]reqstate= Requested state
[in]timeout= Timeout value in us
Returns:
Requested state, or found state after timeout.
See also:
ecx_statecheck

Definition at line 2159 of file ethercatmain.c.

int ec_writeeeprom ( uint16  slave,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

Parameters:
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns:
>0 if OK
See also:
ecx_writeeeprom

Definition at line 2230 of file ethercatmain.c.

int ec_writeeepromAP ( uint16  aiadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

APWR method.

Parameters:
[in]aiadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns:
>0 if OK
See also:
ecx_writeeepromAP

Definition at line 2274 of file ethercatmain.c.

int ec_writeeepromFP ( uint16  configadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

FPWR method.

Parameters:
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns:
>0 if OK
See also:
ecx_writeeepromFP

Definition at line 2304 of file ethercatmain.c.

int ec_writestate ( uint16  slave )

Write slave state, if slave = 0 then write to all slaves.

The function does not check if the actual state is changed.

Parameters:
[in]slave= Slave number, 0 = master
Returns:
0
See also:
ecx_writestate

Definition at line 2146 of file ethercatmain.c.

static void ecx_clearindex ( ecx_contextt *  context ) [static]

Clear the idx stack.

Parameters:
context= context struct

Definition at line 1675 of file ethercatmain.c.

void ecx_close ( ecx_contextt *  context )

Close lib.

Parameters:
[in]context= context struct

Definition at line 320 of file ethercatmain.c.

int ecx_eeprom2master ( ecx_contextt *  context,
uint16  slave 
)

Set eeprom control to master.

Only if set to PDI.

Parameters:
[in]context= context struct
[in]slave= Slave number
Returns:
>0 if OK

Definition at line 1187 of file ethercatmain.c.

int ecx_eeprom2pdi ( ecx_contextt *  context,
uint16  slave 
)

Set eeprom control to PDI.

Only if set to master.

Parameters:
[in]context= context struct
[in]slave= Slave number
Returns:
>0 if OK

Definition at line 1220 of file ethercatmain.c.

void ecx_esidump ( ecx_contextt *  context,
uint16  slave,
uint8 *  esibuf 
)

Dump complete EEPROM data from slave in buffer.

Parameters:
[in]context= context struct
[in]slave= Slave number
[out]esibuf= EEPROM data buffer, make sure it is big enough.

Definition at line 1112 of file ethercatmain.c.

int ecx_init ( ecx_contextt *  context,
const char *  ifname 
)

Initialise lib in single NIC mode.

Parameters:
[in]context= context struct
[in]ifname= Dev name, f.e. "eth0"
Returns:
>0 if OK

Definition at line 287 of file ethercatmain.c.

int ecx_init_redundant ( ecx_contextt *  context,
ecx_redportt *  redport,
const char *  ifname,
char *  if2name 
)

Initialise lib in redundant NIC mode.

Parameters:
[in]context= context struct
[in]redport= pointer to redport, redundant port data
[in]ifname= Primary Dev name, f.e. "eth0"
[in]if2name= Secondary Dev name, f.e. "eth1"
Returns:
>0 if OK

Definition at line 299 of file ethercatmain.c.

boolean ecx_iserror ( ecx_contextt *  context )

Check if error list has entries.

Parameters:
[in]context= context struct
Returns:
TRUE if error list contains entries.

Definition at line 205 of file ethercatmain.c.

static int ecx_main_send_processdata ( ecx_contextt *  context,
uint8  group,
boolean  use_overlap_io 
) [static]

Transmit processdata to slaves.

Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters:
[in]context= context struct
[in]group= group number
Returns:
>0 if processdata is transmitted.

Definition at line 1694 of file ethercatmain.c.

static void ecx_mbxemergencyerror ( ecx_contextt *  context,
uint16  Slave,
uint16  ErrorCode,
uint16  ErrorReg,
uint8  b1,
uint16  w1,
uint16  w2 
) [static]

Report Mailbox Emergency Error.

Parameters:
[in]context= context struct
[in]Slave= Slave number
[in]ErrorCode= Following EtherCAT specification
[in]ErrorReg
[in]b1
[in]w1
[in]w2

Definition at line 263 of file ethercatmain.c.

int ecx_mbxempty ( ecx_contextt *  context,
uint16  slave,
int  timeout 
)

Check if IN mailbox of slave is empty.

Parameters:
[in]context= context struct
[in]slave= Slave number
[in]timeout= Timeout in us
Returns:
>0 is success

Definition at line 931 of file ethercatmain.c.

static void ecx_mbxerror ( ecx_contextt *  context,
uint16  Slave,
uint16  Detail 
) [static]

Report Mailbox Error.

Parameters:
[in]context= context struct
[in]Slave= Slave number
[in]Detail= Following EtherCAT specification

Definition at line 239 of file ethercatmain.c.

int ecx_mbxreceive ( ecx_contextt *  context,
uint16  slave,
ec_mbxbuft *  mbx,
int  timeout 
)

Read OUT mailbox from slave.

Supports Mailbox Link Layer with repeat requests.

Parameters:
[in]context= context struct
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns:
Work counter (>0 is success)

Definition at line 1000 of file ethercatmain.c.

int ecx_mbxsend ( ecx_contextt *  context,
uint16  slave,
ec_mbxbuft *  mbx,
int  timeout 
)

Write IN mailbox to slave.

Parameters:
[in]context= context struct
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns:
Work counter (>0 is success)

Definition at line 967 of file ethercatmain.c.

void ecx_packeterror ( ecx_contextt *  context,
uint16  Slave,
uint16  Index,
uint8  SubIdx,
uint16  ErrorCode 
)

Report packet error.

Parameters:
[in]context= context struct
[in]Slave= Slave number
[in]Index= Index that generated error
[in]SubIdx= Subindex that generated error
[in]ErrorCode= Error code

Definition at line 218 of file ethercatmain.c.

boolean ecx_poperror ( ecx_contextt *  context,
ec_errort *  Ec 
)

Pops an error from the list.

Parameters:
[in]context= context struct
[out]Ec= Struct describing the error.
Returns:
TRUE if an error was popped.

Definition at line 179 of file ethercatmain.c.

static int ecx_pullindex ( ecx_contextt *  context ) [static]

Pull index of segmented LRD/LWR/LRW combination.

Parameters:
[in]context= context struct
Returns:
Stack location, -1 if stack is empty.

Definition at line 1658 of file ethercatmain.c.

void ecx_pusherror ( ecx_contextt *  context,
const ec_errort *  Ec 
)

Pushes an error on the error list.

Parameters:
[in]context= context struct
[in]Ecpointer describing the error.

Definition at line 153 of file ethercatmain.c.

static void ecx_pushindex ( ecx_contextt *  context,
uint8  idx,
void *  data,
uint16  length 
) [static]

Push index of segmented LRD/LWR/LRW combination.

Parameters:
[in]context= context struct
[in]idx= Used datagram index.
[in]data= Pointer to process data segment.
[in]length= Length of data segment in bytes.

Definition at line 1643 of file ethercatmain.c.

uint32 ecx_readeeprom ( ecx_contextt *  context,
uint16  slave,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

Parameters:
[in]context= context struct
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns:
EEPROM data 32bit

Definition at line 1155 of file ethercatmain.c.

void ecx_readeeprom1 ( ecx_contextt *  context,
uint16  slave,
uint16  eeproma 
)

Read EEPROM from slave bypassing cache.

Parallel read step 1, make request to slave.

Parameters:
[in]context= context struct
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM

Definition at line 1583 of file ethercatmain.c.

uint32 ecx_readeeprom2 ( ecx_contextt *  context,
uint16  slave,
int  timeout 
)

Read EEPROM from slave bypassing cache.

Parallel read step 2, actual read from slave.

Parameters:
[in]context= context struct
[in]slave= Slave number
[in]timeout= Timeout in us.
Returns:
EEPROM data 32bit

Definition at line 1616 of file ethercatmain.c.

uint64 ecx_readeepromAP ( ecx_contextt *  context,
uint16  aiadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

APRD method.

Parameters:
[in]context= context struct
[in]aiadr= auto increment address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns:
EEPROM data 64bit or 32bit

Definition at line 1273 of file ethercatmain.c.

uint64 ecx_readeepromFP ( ecx_contextt *  context,
uint16  configadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

FPRD method.

Parameters:
[in]context= context struct
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns:
EEPROM data 64bit or 32bit

Definition at line 1442 of file ethercatmain.c.

int ecx_readstate ( ecx_contextt *  context )

Read all slave states in ec_slave.

Parameters:
[in]context= context struct
Returns:
lowest state found

Definition at line 722 of file ethercatmain.c.

int ecx_receive_processdata_group ( ecx_contextt *  context,
uint8  group,
int  timeout 
)

Receive processdata from slaves.

Second part from ec_send_processdata(). Received datagrams are recombined with the processdata with help from the stack. If a datagram contains input processdata it copies it to the processdata structure.

Parameters:
[in]context= context struct
[in]group= group number
[in]timeout= Timeout in us.
Returns:
Work counter.

Definition at line 1907 of file ethercatmain.c.

int ecx_send_overlap_processdata_group ( ecx_contextt *  context,
uint8  group 
)

Transmit processdata to slaves.

Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted in the overlapped IOmap. The outputs with the actual data, the inputs replace the output data in the returning frame. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters:
[in]context= context struct
[in]group= group number
Returns:
>0 if processdata is transmitted.

Definition at line 1876 of file ethercatmain.c.

int ecx_send_processdata_group ( ecx_contextt *  context,
uint8  group 
)

Transmit processdata to slaves.

Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters:
[in]context= context struct
[in]group= group number
Returns:
>0 if processdata is transmitted.

Definition at line 1893 of file ethercatmain.c.

int16 ecx_siifind ( ecx_contextt *  context,
uint16  slave,
uint16  cat 
)

Find SII section header in slave EEPROM.

Parameters:
[in]context= context struct
[in]slave= slave number
[in]cat= section category
Returns:
byte address of section at section length entry, if not available then 0

Definition at line 404 of file ethercatmain.c.

uint16 ecx_siiFMMU ( ecx_contextt *  context,
uint16  slave,
ec_eepromFMMUt *  FMMU 
)

Get FMMU data from SII FMMU section in slave EEPROM.

Parameters:
[in]context= context struct
[in]slave= slave number
[out]FMMU= FMMU struct from SII, max. 4 FMMU's
Returns:
number of FMMU's defined in section

Definition at line 502 of file ethercatmain.c.

uint8 ecx_siigetbyte ( ecx_contextt *  context,
uint16  slave,
uint16  address 
)

Read one byte from slave EEPROM via cache.

If the cache location is empty then a read request is made to the slave. Depending on the slave capabilities the request is 4 or 8 bytes.

Parameters:
[in]context= context struct
[in]slave= slave number
[in]address= eeprom address in bytes (slave uses words)
Returns:
requested byte, if not available then 0xff

Definition at line 333 of file ethercatmain.c.

int ecx_siiPDO ( ecx_contextt *  context,
uint16  slave,
ec_eepromPDOt *  PDO,
uint8  t 
)

Get PDO data from SII PDO section in slave EEPROM.

Parameters:
[in]context= context struct
[in]slave= slave number
[out]PDO= PDO struct from SII
[in]t= 0=RXPDO 1=TXPDO
Returns:
mapping size in bits of PDO

Definition at line 613 of file ethercatmain.c.

uint16 ecx_siiSM ( ecx_contextt *  context,
uint16  slave,
ec_eepromSMt *  SM 
)

Get SM data from SII SM section in slave EEPROM.

Parameters:
[in]context= context struct
[in]slave= slave number
[out]SM= first SM struct from SII
Returns:
number of SM's defined in section

Definition at line 542 of file ethercatmain.c.

uint16 ecx_siiSMnext ( ecx_contextt *  context,
uint16  slave,
ec_eepromSMt *  SM,
uint16  n 
)

Get next SM data from SII SM section in slave EEPROM.

Parameters:
[in]context= context struct
[in]slave= slave number
[out]SM= first SM struct from SII
[in]n= SM number
Returns:
>0 if OK

Definition at line 579 of file ethercatmain.c.

void ecx_siistring ( ecx_contextt *  context,
char *  str,
uint16  slave,
uint16  Sn 
)

Get string from SII string section in slave EEPROM.

Parameters:
[in]context= context struct
[out]str= requested string, 0x00 if not found
[in]slave= slave number
[in]Sn= string number

Definition at line 444 of file ethercatmain.c.

uint16 ecx_statecheck ( ecx_contextt *  context,
uint16  slave,
uint16  reqstate,
int  timeout 
)

Check actual slave state.

This is a blocking function. To refresh the state of all slaves ecx_readstate()should be called

Parameters:
[in]context= context struct
[in]slave= Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
[in]reqstate= Requested state
[in]timeout= Timeout value in us
Returns:
Requested state, or found state after timeout.

Definition at line 861 of file ethercatmain.c.

int ecx_writeeeprom ( ecx_contextt *  context,
uint16  slave,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

Parameters:
[in]context= context struct
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns:
>0 if OK

Definition at line 1173 of file ethercatmain.c.

int ecx_writeeepromAP ( ecx_contextt *  context,
uint16  aiadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

APWR method.

Parameters:
[in]context= context struct
[in]aiadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns:
>0 if OK

Definition at line 1353 of file ethercatmain.c.

int ecx_writeeepromFP ( ecx_contextt *  context,
uint16  configadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

FPWR method.

Parameters:
[in]context= context struct
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns:
>0 if OK

Definition at line 1522 of file ethercatmain.c.

int ecx_writestate ( ecx_contextt *  context,
uint16  slave 
)

Write slave state, if slave = 0 then write to all slaves.

The function does not check if the actual state is changed.

Parameters:
[in]context= context struct
[in]slave= Slave number, 0 = master
Returns:
Workcounter or EC_NOFRAME

Definition at line 831 of file ethercatmain.c.

Variable Documentation

ec_eringt ec_elist [static]

current slave for EEPROM cache buffer

Definition at line 78 of file ethercatmain.c.

uint8 ec_esibuf[EC_MAXEEPBUF] [static]

cache for EEPROM read functions

Definition at line 74 of file ethercatmain.c.

uint32 ec_esimap[EC_MAXEEPBITMAP] [static]

bitmap for filled cache buffer bytes

Definition at line 76 of file ethercatmain.c.

ec_eepromFMMUt ec_FMMU [static]

buffer for EEPROM FMMU data

Definition at line 91 of file ethercatmain.c.

ec_groupt ec_group[EC_MAXGROUP]

slave group structure

Definition at line 71 of file ethercatmain.c.

ec_PDOassignt ec_PDOassign[EC_MAX_MAPT] [static]

PDO assign struct to store data of one slave.

Definition at line 84 of file ethercatmain.c.

ec_PDOdesct ec_PDOdesc[EC_MAX_MAPT] [static]

PDO description struct to store data of one slave.

Definition at line 86 of file ethercatmain.c.

PACKED_END ec_slavet ec_slave[EC_MAXSLAVE]

Main slave data array.

main slave data structure array

Each slave found on the network gets its own record. ec_slave[0] is reserved for the master. Structure gets filled in by the configuration function ec_config().

Definition at line 67 of file ethercatmain.c.

int ec_slavecount

number of slaves found on the network

number of slaves found by configuration function

Definition at line 69 of file ethercatmain.c.

ec_eepromSMt ec_SM [static]

buffer for EEPROM SM data

Definition at line 89 of file ethercatmain.c.

ec_SMcommtypet ec_SMcommtype[EC_MAX_MAPT] [static]

SyncManager Communication Type struct to store data of one slave.

Definition at line 82 of file ethercatmain.c.

boolean EcatError = FALSE

Global variable TRUE if error available in error stack.

Definition at line 93 of file ethercatmain.c.

ecx_contextt ecx_context
Initial value:
 {
    &ecx_port,          
    &ec_slave[0],       
    &ec_slavecount,     
    EC_MAXSLAVE,        
    &ec_group[0],       
    EC_MAXGROUP,        
    &ec_esibuf[0],      
    &ec_esimap[0],      
    0,                  
    &ec_elist,          
    &ec_idxstack,       
    &EcatError,         
    0,                  
    0,                  
    &ec_DCtime,         
    &ec_SMcommtype[0],  
    &ec_PDOassign[0],   
    &ec_PDOdesc[0],     
    &ec_SM,             
    &ec_FMMU,           
    NULL,               
    NULL                
}

global struct to hold default master context

Definition at line 100 of file ethercatmain.c.

Generated on Tue Jul 12 2022 18:21:13 by  doxygen 1.7.2