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ethercatmain.h File Reference
Data Structures | Typedefs | Functions | Variables

ethercatmain.h File Reference

Headerfile for ethercatmain.c. More...

Go to the source code of this file.

Data Structures

struct  ec_fmmu
 record for FMMU More...
struct  ec_sm
 record for sync manager More...
struct  ec_slave
 for list of ethercat slaves detected More...
struct  ec_group
 for list of ethercat slave groups More...
struct  ec_eepromFMMU
 SII FMMU structure. More...
struct  ec_eepromSM
 SII SM structure. More...
struct  ec_eepromPDO
 record to store rxPDO and txPDO table from eeprom More...
struct  ec_mbxheader
 standard ethercat mailbox header More...
struct  ec_alstatus
 ALstatus and ALstatus code. More...
struct  ec_idxstack
 stack structure to store segmented LRD/LWR/LRW constructs More...
struct  ec_ering
 ringbuf for error storage More...
struct  ec_SMcommtype
 SyncManager Communication Type structure for CA. More...
struct  ec_PDOassign
 SDO assign structure for CA. More...
struct  ec_PDOdesc
 SDO description structure for CA. More...

Typedefs

typedef PACKED_BEGIN struct
PACKED ec_fmmu 		ec_fmmut
 record for FMMU
typedef PACKED_END
PACKED_BEGIN struct PACKED
ec_sm 		ec_smt
 record for sync manager
typedef struct ec_slave ec_slavet
 for list of ethercat slaves detected
typedef struct ec_group ec_groupt
 for list of ethercat slave groups
typedef struct ec_eepromFMMU ec_eepromFMMUt
 SII FMMU structure.
typedef struct ec_eepromSM ec_eepromSMt
 SII SM structure.
typedef struct ec_eepromPDO ec_eepromPDOt
 record to store rxPDO and txPDO table from eeprom
typedef uint8 ec_mbxbuft [EC_MAXMBX+1]
 mailbox buffer array
typedef PACKED_BEGIN struct
PACKED ec_mbxheader 		ec_mbxheadert
 standard ethercat mailbox header
typedef PACKED_END
PACKED_BEGIN struct PACKED
ec_alstatus 		ec_alstatust
 ALstatus and ALstatus code.
typedef PACKED_END struct
ec_idxstack 		ec_idxstackT
 stack structure to store segmented LRD/LWR/LRW constructs
typedef struct ec_ering ec_eringt
 ringbuf for error storage
typedef PACKED_BEGIN struct
PACKED ec_SMcommtype 		ec_SMcommtypet
 SyncManager Communication Type structure for CA.
typedef PACKED_END
PACKED_BEGIN struct PACKED
ec_PDOassign 		ec_PDOassignt
 SDO assign structure for CA.
typedef PACKED_END
PACKED_BEGIN struct PACKED
ec_PDOdesc 		ec_PDOdesct
 SDO description structure for CA.
typedef typedefPACKED_END
struct ecx_context 		ecx_contextt
 Context structure , referenced by all ecx functions.

Functions

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.
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.
uint8 ec_nextmbxcnt (uint8 cnt)
 Get index of next mailbox counter value.
void ec_clearmbx (ec_mbxbuft *Mbx)
 Clear mailbox buffer.
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.
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.
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.
int ecx_send_overlap_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 ecx_send_processdata_group (ecx_contextt *context, uint8 group)
 Transmit processdata to slaves.

Variables

ecx_contextt ecx_context
 global struct to hold default master context
ec_slavet ec_slave [EC_MAXSLAVE]
 main slave data structure array
int ec_slavecount
 number of slaves found by configuration function
ec_groupt ec_group [EC_MAXGROUP]
 slave group structure
boolean EcatError
 Global variable TRUE if error available in error stack.

Detailed Description

Headerfile for ethercatmain.c.

Definition in file ethercatmain.h.

Typedef Documentation

typedef PACKED_END PACKED_BEGIN struct PACKED ec_alstatus ec_alstatust

ALstatus and ALstatus code.

typedef struct ec_eepromFMMU ec_eepromFMMUt

SII FMMU structure.

typedef struct ec_eepromPDO ec_eepromPDOt

record to store rxPDO and txPDO table from eeprom

typedef struct ec_eepromSM ec_eepromSMt

SII SM structure.

typedef struct ec_ering ec_eringt

ringbuf for error storage

typedef PACKED_BEGIN struct PACKED ec_fmmu ec_fmmut

record for FMMU

typedef struct ec_group ec_groupt

for list of ethercat slave groups

typedef PACKED_END struct ec_idxstack ec_idxstackT

stack structure to store segmented LRD/LWR/LRW constructs

typedef uint8 ec_mbxbuft[EC_MAXMBX+1]

mailbox buffer array

Definition at line 308 of file ethercatmain.h.

typedef PACKED_BEGIN struct PACKED ec_mbxheader ec_mbxheadert

standard ethercat mailbox header

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOassign ec_PDOassignt

SDO assign structure for CA.

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOdesc ec_PDOdesct

SDO description structure for CA.

typedef struct ec_slave ec_slavet

for list of ethercat slaves detected

typedef PACKED_BEGIN struct PACKED ec_SMcommtype ec_SMcommtypet

SyncManager Communication Type structure for CA.

typedef PACKED_END PACKED_BEGIN struct PACKED ec_sm ec_smt

record for sync manager

typedef typedefPACKED_END struct ecx_context ecx_contextt

Context structure , referenced by all ecx functions.

Definition at line 380 of file ethercatmain.h.

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.

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.

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.

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.

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.

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_groupt ec_group[EC_MAXGROUP]

slave group structure

Definition at line 71 of file ethercatmain.c.

ec_slavet ec_slave[EC_MAXSLAVE]

main slave data structure 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 by configuration function

Definition at line 69 of file ethercatmain.c.

boolean EcatError

Global variable TRUE if error available in error stack.

Definition at line 93 of file ethercatmain.c.

ecx_contextt ecx_context

global struct to hold default master context

Definition at line 100 of file ethercatmain.c.

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