Base EtherCAT functions. More...

#include <stdio.h>
#include <string.h>
#include "oshw.h"
#include "osal.h"
#include "ethercattype.h"
#include "ethercatbase.h"

Include dependency graph for ethercatbase.c:

Go to the source code of this file.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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 113 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 excecutes
[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 227 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 308 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 372 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 394 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 255 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 195 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 168 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 328 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 353 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 409 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 431 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 283 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 471 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 445 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 522 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 497 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 72 of file ethercatbase.c.

Functions

Detailed Description

Function Documentation