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Classes
struct	ec_eepromFMMUt
struct	ec_eepromPDOt
struct	ec_eepromSMt
struct	ec_groupt
struct	ec_slavet
struct	PACKED
struct	PACKED
struct	PACKED
struct	PACKED
struct	PACKED
Defines
#define	EC_MAXEEPDO 0x200
#define	EC_MAXELIST 64
#define	EC_MAXFMMU 4
#define	EC_MAXGROUP 8
#define	EC_MAXIOSEGMENTS 64
#define	EC_MAXMBX 0x3ff
#define	EC_MAXNAME 36
#define	EC_MAXSLAVE 200
#define	EC_MAXSM 8
#define	EC_SMENABLEMASK 0xfffeffff
#define	ECT_COEDET_PDOASSIGN 0x04
#define	ECT_COEDET_PDOCONFIG 0x08
#define	ECT_COEDET_SDO 0x01
#define	ECT_COEDET_SDOCA 0x20
#define	ECT_COEDET_SDOINFO 0x02
#define	ECT_COEDET_UPLOAD 0x10
#define	ECT_MBXPROT_AOE 0x0001
#define	ECT_MBXPROT_COE 0x0004
#define	ECT_MBXPROT_EOE 0x0002
#define	ECT_MBXPROT_FOE 0x0008
#define	ECT_MBXPROT_SOE 0x0010
#define	ECT_MBXPROT_VOE 0x0020
#define	PACKED __attribute__((__packed__))
Typedefs
typedef struct PACKED	ec_alstatust
typedef struct PACKED	ec_fmmut
typedef uint8	ec_mbxbuft [EC_MAXMBX+1]
typedef struct PACKED	ec_mbxheadert
typedef struct PACKED	ec_smt
typedef struct PACKED	ec_state_status
Functions
void	ec_clearmbx (ec_mbxbuft *Mbx)
void	ec_close (void)
int	ec_eeprom2master (uint16 slave)
int	ec_eeprom2pdi (uint16 slave)
void	ec_esidump (uint16 slave, uint8 *esibuf, uint8 test)
int	ec_init (const char *ifname)
int	ec_init_redundant (const char ifname, const char if2name)
boolean	ec_iserror (void)
int	ec_mbxempty (uint16 slave, int timeout)
int	ec_mbxreceive (uint16 slave, ec_mbxbuft *mbx, int timeout)
int	ec_mbxsend (uint16 slave, ec_mbxbuft *mbx, int timeout)
uint8	ec_nextmbxcnt (uint8 cnt)
void	ec_packeterror (uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)
boolean	ec_poperror (ec_errort *Ec)
void	ec_pusherror (const ec_errort *Ec)
uint32	ec_readeeprom (uint16 slave, uint16 eeproma, int timeout)
void	ec_readeeprom1 (uint16 slave, uint16 eeproma)
uint32	ec_readeeprom2 (uint16 slave, int timeout)
uint64	ec_readeepromAP (uint16 aiadr, uint16 eeproma, int timeout)
uint64	ec_readeepromFP (uint16 configadr, uint16 eeproma, int timeout)
int	ec_readstate (void)
int	ec_receive_processdata (int timeout)
int	ec_receive_processdata_group (uint8 group, int timeout)
int	ec_send_processdata (void)
int	ec_send_processdata_group (uint8 group)
int16	ec_siifind (uint16 slave, uint16 cat)
uint16	ec_siiFMMU (uint16 slave, ec_eepromFMMUt *FMMU)
uint8	ec_siigetbyte (uint16 slave, uint16 address)
int	ec_siiPDO (uint16 slave, ec_eepromPDOt *PDO, uint8 t)
uint16	ec_siiSM (uint16 slave, ec_eepromSMt *SM)
uint16	ec_siiSMnext (uint16 slave, ec_eepromSMt *SM, uint16 n)
void	ec_siistring (char *str, uint16 slave, uint16 Sn)
uint16	ec_statecheck (uint16 slave, uint16 reqstate, int timeout)
int	ec_writeeeprom (uint16 slave, uint16 eeproma, uint16 data, int timeout)
int	ec_writeeepromAP (uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
int	ec_writeeepromFP (uint16 configadr, uint16 eeproma, uint16 data, int timeout)
int	ec_writestate (uint16 slave)
Variables
int64	ec_DCtime
uint16	ec_DCtO
ec_groupt	ec_group [EC_MAXGROUP]
ec_slavet	ec_slave [EC_MAXSLAVE]
int	ec_slavecount
boolean	EcatError

Detailed Description

Headerfile for ethercatmain.c.

Definition in file ethercatmain.h.

Define Documentation

#define EC_MAXEEPDO 0x200

max. eeprom PDO entries

Definition at line 66 of file ethercatmain.h.

#define EC_MAXELIST 64

max. etries in EtherCAT error list

Definition at line 54 of file ethercatmain.h.

#define EC_MAXFMMU 4

max. FMMU used

Definition at line 70 of file ethercatmain.h.

#define EC_MAXGROUP 8

max. number of groups

Definition at line 60 of file ethercatmain.h.

#define EC_MAXIOSEGMENTS 64

max. number of IO segments per group

Definition at line 62 of file ethercatmain.h.

#define EC_MAXMBX 0x3ff

max. mailbox size

Definition at line 64 of file ethercatmain.h.

#define EC_MAXNAME 36

max. length of readable name in slavelist and Object Description List

Definition at line 56 of file ethercatmain.h.

#define EC_MAXSLAVE 200

max. number of slaves in array

Definition at line 58 of file ethercatmain.h.

#define EC_MAXSM 8

max. SM used

Definition at line 68 of file ethercatmain.h.

#define EC_SMENABLEMASK 0xfffeffff

Definition at line 119 of file ethercatmain.h.

#define ECT_COEDET_PDOASSIGN 0x04

Definition at line 114 of file ethercatmain.h.

#define ECT_COEDET_PDOCONFIG 0x08

Definition at line 115 of file ethercatmain.h.

#define ECT_COEDET_SDO 0x01

Definition at line 112 of file ethercatmain.h.

#define ECT_COEDET_SDOCA 0x20

Definition at line 117 of file ethercatmain.h.

#define ECT_COEDET_SDOINFO 0x02

Definition at line 113 of file ethercatmain.h.

#define ECT_COEDET_UPLOAD 0x10

Definition at line 116 of file ethercatmain.h.

#define ECT_MBXPROT_AOE 0x0001

Definition at line 105 of file ethercatmain.h.

#define ECT_MBXPROT_COE 0x0004

Definition at line 107 of file ethercatmain.h.

#define ECT_MBXPROT_EOE 0x0002

Definition at line 106 of file ethercatmain.h.

#define ECT_MBXPROT_FOE 0x0008

Definition at line 108 of file ethercatmain.h.

#define ECT_MBXPROT_SOE 0x0010

Definition at line 109 of file ethercatmain.h.

#define ECT_MBXPROT_VOE 0x0020

Definition at line 110 of file ethercatmain.h.

#define PACKED __attribute__((__packed__))

Definition at line 50 of file ethercatmain.h.

Typedef Documentation

typedef struct PACKED ec_alstatust

ALstatus and ALstatus code

typedef struct PACKED ec_fmmut

record for FMMU

typedef uint8 ec_mbxbuft[EC_MAXMBX+1]

mailbox buffer array

Definition at line 324 of file ethercatmain.h.

typedef struct PACKED ec_mbxheadert

standard ethercat mailbox header

typedef struct PACKED ec_smt

record for sync manager

typedef struct PACKED ec_state_status

Function Documentation

void ec_clearmbx ( ec_mbxbuft * Mbx )

Clear mailbox buffer.

Parameters:

[out] Mbx = Mailbox buffer to clear

Definition at line 694 of file ethercatmain.c.

void ec_close ( void )

Close lib.

Definition at line 260 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

Definition at line 915 of file ethercatmain.c.

int ec_eeprom2pdi ( uint16 slave )

Set eeprom control to PDI. Only if set to master.

Parameters:

[in] slave = Slave number

Returns:: >0 if OK

Definition at line 945 of file ethercatmain.c.

void ec_esidump	(	uint16	slave,
		uint8 *	esibuf,
		uint8	test
	)

Dump complete EEPROM data from slave in buffer.

Parameters:

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

Definition at line 850 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

Definition at line 231 of file ethercatmain.c.

int ec_init_redundant	(	const char *	ifname,
		const 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

Definition at line 241 of file ethercatmain.c.

boolean ec_iserror ( void )

Check if error list has entries.

Returns:: TRUE if error list contains entries.

Definition at line 175 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

Definition at line 704 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)

Definition at line 765 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)

Definition at line 735 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 683 of file ethercatmain.c.

void ec_packeterror	(	uint16	Slave,
		uint16	Index,
		uint8	SubIdx,
		uint16	ErrorCode
	)

Report packet error

Parameters:

[in]	Slave	= Slave number
[in]	Index	= Index that generated error
[in]	SubIdx	= Subindex that generated error
[in]	ErrorCode	= Error code

Definition at line 187 of file ethercatmain.c.

boolean ec_poperror ( ec_errort * Ec )

Pops an error from the list.

Parameters:

[out] Ec = Struct describing the error.

Returns:: TRUE if an error was popped.

Definition at line 154 of file ethercatmain.c.

void ec_pusherror ( const ec_errort * Ec )

Pushes an error on the error list.

Parameters:

[in] Ec Struct describing the error.

Definition at line 135 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

Definition at line 886 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

Definition at line 1288 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

Definition at line 1318 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 993 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

Definition at line 1153 of file ethercatmain.c.

int ec_readstate ( void )

Read all slave states in ec_slave.

Returns:: lowest state found

Definition at line 585 of file ethercatmain.c.

int ec_receive_processdata ( int timeout )

Definition at line 1560 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] timeout = Timeout in us.

Returns:: Work counter.

Definition at line 1512 of file ethercatmain.c.

int ec_send_processdata ( void )

Definition at line 1555 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.

Returns:: >0 if processdata is transmitted.

Definition at line 1383 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

Definition at line 341 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

Definition at line 419 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

Definition at line 273 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

Definition at line 519 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

Definition at line 455 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

Definition at line 489 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

Definition at line 377 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	= Timout value in us

Returns:: Requested state, or found state after timeout.

Definition at line 639 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

Definition at line 902 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

Definition at line 1069 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

Definition at line 1229 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

Definition at line 615 of file ethercatmain.c.

Variable Documentation

int64 ec_DCtime

Definition at line 129 of file ethercatmain.c.

uint16 ec_DCtO

Definition at line 127 of file ethercatmain.c.

ec_groupt ec_group[EC_MAXGROUP]

slave group structure

Definition at line 113 of file ethercatmain.c.

ec_slavet ec_slave[EC_MAXSLAVE]

main slave data structure array

Main slave data 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 109 of file ethercatmain.c.

int ec_slavecount

number of slaves found by configuration function

number of slaves found on the network

Definition at line 111 of file ethercatmain.c.

boolean EcatError

Global variable TRUE if error available in error stack

Definition at line 125 of file ethercatmain.c.

Classes

Defines

Typedefs

Functions

Variables

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation

Variable Documentation