Main EtherCAT functions. More...

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

Include dependency graph for ethercatmain.c:

Go to the source code of this file.

Classes
struct	PACKED

struct	PACKED

struct	PACKED

Macros
#define	EC_LOCALDELAY 200

Typedefs
typedef PACKED_BEGIN struct PACKED	ec_eepromt

typedef PACKED_END PACKED_BEGIN struct PACKED	ec_emcyt

typedef PACKED_END PACKED_BEGIN struct PACKED	ec_mbxerrort

Functions
void	ec_clearmbx (ec_mbxbuft *Mbx)

void	ec_close (void)

int	ec_eeprom2master (uint16 slave)

int	ec_eeprom2pdi (uint16 slave)

uint16	ec_eeprom_waitnotbusyAP (uint16 aiadr, uint16 *estat, int timeout)

uint16	ec_eeprom_waitnotbusyFP (uint16 configadr, uint16 *estat, int timeout)

void	ec_esidump (uint16 slave, uint8 *esibuf)

ec_adaptert *	ec_find_adapters (void)

void	ec_free_adapters (ec_adaptert *adapter)

int	ec_init (char *ifname)

int	ec_init_redundant (char ifname, char if2name)

boolean	ec_iserror (void)

static void	ec_mbxemergencyerror (uint16 Slave, uint16 ErrorCode, uint16 ErrorReg, uint8 b1, uint16 w1, uint16 w2)

int	ec_mbxempty (uint16 slave, int timeout)

static void	ec_mbxerror (uint16 Slave, uint16 Detail)

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)

void	ecx_close (ecx_contextt *context)

int	ecx_eeprom2master (ecx_contextt *context, uint16 slave)

int	ecx_eeprom2pdi (ecx_contextt *context, uint16 slave)

uint16	ecx_eeprom_waitnotbusyAP (ecx_contextt context, uint16 aiadr, uint16 estat, int timeout)

uint16	ecx_eeprom_waitnotbusyFP (ecx_contextt context, uint16 configadr, uint16 estat, int timeout)

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

int	ecx_init (ecx_contextt context, char ifname)

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

boolean	ecx_iserror (ecx_contextt *context)

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

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

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

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

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

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

boolean	ecx_poperror (ecx_contextt context, ec_errort Ec)

static int	ecx_pullindex (ecx_contextt *context)

void	ecx_pusherror (ecx_contextt context, const ec_errort Ec)

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

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

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

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

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

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

int	ecx_readstate (ecx_contextt *context)

int	ecx_receive_processdata (ecx_contextt *context, int timeout)

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

int	ecx_send_processdata (ecx_contextt *context)

int	ecx_send_processdata_group (ecx_contextt *context, uint8 group)

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

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

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

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

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

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

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

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

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

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

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

int	ecx_writestate (ecx_contextt *context, uint16 slave)

Variables
int64	ec_DCtime

static ec_eringt	ec_elist

static ec_eepromFMMUt	ec_FMMU

ec_groupt	ec_group [EC_MAXGROUP]

static ec_idxstackT	ec_idxstack

static ec_PDOassignt	ec_PDOassign

static ec_PDOdesct	ec_PDOdesc

PACKED_END ec_slavet	ec_slave [EC_MAXSLAVE]

int	ec_slavecount

static ec_eepromSMt	ec_SM

static ec_SMcommtypet	ec_SMcommtype

boolean	EcatError = FALSE

ecx_contextt	ecx_context

ecx_portt	ecx_port

ecx_redportt	ecx_redport

static uint8	esibuf [EC_MAXEEPBUF]

static uint32	esimap [EC_MAXEEPBITMAP]

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.

Macro Definition Documentation

#define EC_LOCALDELAY 200

delay in us for eeprom ready loop

Definition at line 63 of 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 832 of file ethercatmain.c.

void ec_close ( void )

Definition at line 1852 of file ethercatmain.c.

int ec_eeprom2master ( uint16 slave )

Definition at line 1937 of file ethercatmain.c.

int ec_eeprom2pdi ( uint16 slave )

Definition at line 1942 of file ethercatmain.c.

uint16 ec_eeprom_waitnotbusyAP	(	uint16	aiadr,
		uint16 *	estat,
		int	timeout
	)

Definition at line 1947 of file ethercatmain.c.

uint16 ec_eeprom_waitnotbusyFP	(	uint16	configadr,
		uint16 *	estat,
		int	timeout
	)

Definition at line 1962 of file ethercatmain.c.

void ec_esidump	(	uint16	slave,
		uint8 *	esibuf
	)

Definition at line 1922 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 165 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 178 of file ethercatmain.c.

int ec_init ( char * ifname )

Definition at line 1842 of file ethercatmain.c.

int ec_init_redundant	(	char *	ifname,
		char *	if2name
	)

Definition at line 1847 of file ethercatmain.c.

boolean ec_iserror ( void )

Definition at line 1821 of file ethercatmain.c.

static void ec_mbxemergencyerror	(	uint16	Slave,
		uint16	ErrorCode,
		uint16	ErrorReg,
		uint8	b1,
		uint16	w1,
		uint16	w2
	)

static

Definition at line 1836 of file ethercatmain.c.

int ec_mbxempty	(	uint16	slave,
		int	timeout
	)

Definition at line 1907 of file ethercatmain.c.

static void ec_mbxerror	(	uint16	Slave,
		uint16	Detail
	)

static

Definition at line 1831 of file ethercatmain.c.

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

Definition at line 1917 of file ethercatmain.c.

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

Definition at line 1912 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 818 of file ethercatmain.c.

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

Definition at line 1826 of file ethercatmain.c.

boolean ec_poperror ( ec_errort * Ec )

Definition at line 1816 of file ethercatmain.c.

void ec_pusherror ( const ec_errort * Ec )

Definition at line 1811 of file ethercatmain.c.

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

Definition at line 1927 of file ethercatmain.c.

void ec_readeeprom1	(	uint16	slave,
		uint16	eeproma
	)

Definition at line 1977 of file ethercatmain.c.

uint32 ec_readeeprom2	(	uint16	slave,
		int	timeout
	)

Definition at line 1982 of file ethercatmain.c.

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

Definition at line 1952 of file ethercatmain.c.

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

Definition at line 1967 of file ethercatmain.c.

int ec_readstate ( void )

Definition at line 1892 of file ethercatmain.c.

int ec_receive_processdata ( int timeout )

Definition at line 2002 of file ethercatmain.c.

int ec_receive_processdata_group	(	uint8	group,
		int	timeout
	)

Definition at line 1992 of file ethercatmain.c.

int ec_send_processdata ( void )

Definition at line 1997 of file ethercatmain.c.

int ec_send_processdata_group ( uint8 group )

Definition at line 1987 of file ethercatmain.c.

int16 ec_siifind	(	uint16	slave,
		uint16	cat
	)

Definition at line 1862 of file ethercatmain.c.

uint16 ec_siiFMMU	(	uint16	slave,
		ec_eepromFMMUt *	FMMU
	)

Definition at line 1872 of file ethercatmain.c.

uint8 ec_siigetbyte	(	uint16	slave,
		uint16	address
	)

Definition at line 1857 of file ethercatmain.c.

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

Definition at line 1887 of file ethercatmain.c.

uint16 ec_siiSM	(	uint16	slave,
		ec_eepromSMt *	SM
	)

Definition at line 1877 of file ethercatmain.c.

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

Definition at line 1882 of file ethercatmain.c.

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

Definition at line 1867 of file ethercatmain.c.

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

Definition at line 1902 of file ethercatmain.c.

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

Definition at line 1932 of file ethercatmain.c.

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

Definition at line 1957 of file ethercatmain.c.

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

Definition at line 1972 of file ethercatmain.c.

int ec_writestate ( uint16 slave )

Definition at line 1897 of file ethercatmain.c.

void ecx_close ( ecx_contextt * context )

Close lib.

Parameters

[in] context = context struct

Definition at line 352 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 1078 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 1111 of file ethercatmain.c.

uint16 ecx_eeprom_waitnotbusyAP	(	ecx_contextt *	context,
		uint16	aiadr,
		uint16 *	estat,
		int	timeout
	)

Definition at line 1132 of file ethercatmain.c.

uint16 ecx_eeprom_waitnotbusyFP	(	ecx_contextt *	context,
		uint16	configadr,
		uint16 *	estat,
		int	timeout
	)

Definition at line 1300 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 1003 of file ethercatmain.c.

int ecx_init	(	ecx_contextt *	context,
		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 319 of file ethercatmain.c.

int ecx_init_redundant	(	ecx_contextt *	context,
		ecx_redportt *	redport,
		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 331 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 240 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 296 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 843 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 273 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 911 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 878 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 253 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 214 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 1547 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]	Ec	pointer describing the error.

Definition at line 188 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 1532 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 1046 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 1472 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 1505 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 1163 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 1331 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 714 of file ethercatmain.c.

int ecx_receive_processdata	(	ecx_contextt *	context,
		int	timeout
	)

Definition at line 1805 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 1732 of file ethercatmain.c.

int ecx_send_processdata ( ecx_contextt * context )

Definition at line 1800 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 1571 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 434 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 532 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 capabillities 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 365 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 643 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 572 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 609 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 474 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.

Parameters

[in]	context	= context struct
[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 773 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 1064 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 1243 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 1411 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: 0

Definition at line 747 of file ethercatmain.c.

Variable Documentation

int64 ec_DCtime

Definition at line 132 of file ethercatmain.c.

ec_eringt ec_elist

static

current slave for EEPROM cache buffer

Definition at line 115 of file ethercatmain.c.

ec_eepromFMMUt ec_FMMU

static

buffer for EEPROM FMMU data

Definition at line 128 of file ethercatmain.c.

ec_groupt ec_group[EC_MAXGROUP]

slave group structure

Definition at line 108 of file ethercatmain.c.

ec_idxstackT ec_idxstack

static

Definition at line 116 of file ethercatmain.c.

ec_PDOassignt ec_PDOassign

static

PDO assign struct to store data of one slave

Definition at line 121 of file ethercatmain.c.

ec_PDOdesct ec_PDOdesc

static

PDO description struct to store data of one slave

Definition at line 123 of file ethercatmain.c.

PACKED_END ec_slavet ec_slave[EC_MAXSLAVE]

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 104 of file ethercatmain.c.

int ec_slavecount

number of slaves found on the network

Definition at line 106 of file ethercatmain.c.

ec_eepromSMt ec_SM

static

buffer for EEPROM SM data

Definition at line 126 of file ethercatmain.c.

ec_SMcommtypet ec_SMcommtype

static

SyncManager Communication Type struct to store data of one slave

Definition at line 119 of file ethercatmain.c.

boolean EcatError = FALSE

Global variable TRUE if error available in error stack

Definition at line 130 of file ethercatmain.c.

ecx_contextt ecx_context

Initial value:

= {
    &ecx_port,       
    &ec_slave[0],    
    &ec_slavecount,  
    EC_MAXSLAVE,     
    &ec_group[0],    
    EC_MAXGROUP,     
    &esibuf[0],      
    &esimap[0],      
    0,               
    &ec_elist,       
    &ec_idxstack,    
    &EcatError,      
    0,               
    0,               
    &ec_DCtime,      
    &ec_SMcommtype,  
    &ec_PDOassign,   
    &ec_PDOdesc,     
    &ec_SM,          
    &ec_FMMU         
}