Main EtherCAT functions. More...

#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercat.h"

Include dependency graph for ethercatmain.c:

Classes
struct	PACKED

struct	PACKED

struct	PACKED

Macros
#define	EC_LOCALDELAY 200

#define	MAX_FPRD_MULTI 64

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 (const char *ifname)

int	ec_init_redundant (const char ifname, 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_overlap_processdata (void)

int	ec_send_overlap_processdata_group (uint8 group)

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)

static void	ecx_clearindex (ecx_contextt *context)

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_FPRD_multi (ecx_contextt context, int n, uint16 configlst, ec_alstatust *slstatlst, int timeout)

int	ecx_init (ecx_contextt context, const char ifname)

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

boolean	ecx_iserror (ecx_contextt *context)

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

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_overlap_processdata (ecx_contextt *context)

int	ecx_send_overlap_processdata_group (ecx_contextt *context, uint8 group)

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 uint8	ec_esibuf [EC_MAXEEPBUF]

static uint32	ec_esimap [EC_MAXEEPBITMAP]

static ec_eepromFMMUt	ec_FMMU

ec_groupt	ec_group [EC_MAXGROUP]

static ec_idxstackT	ec_idxstack

static ec_PDOassignt	ec_PDOassign [EC_MAX_MAPT]

static ec_PDOdesct	ec_PDOdesc [EC_MAX_MAPT]

PACKED_END ec_slavet	ec_slave [EC_MAXSLAVE]

int	ec_slavecount

static ec_eepromSMt	ec_SM

static ec_SMcommtypet	ec_SMcommtype [EC_MAX_MAPT]

boolean	EcatError = FALSE

ecx_contextt	ecx_context

ecx_portt	ecx_port

ecx_redportt	ecx_redport

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

◆ EC_LOCALDELAY

#define EC_LOCALDELAY 200

delay in us for eeprom ready loop

Definition at line 26 of file ethercatmain.c.

◆ MAX_FPRD_MULTI

#define MAX_FPRD_MULTI 64

Definition at line 681 of file ethercatmain.c.

Typedef Documentation

◆ ec_eepromt

typedef PACKED_BEGIN struct PACKED ec_eepromt

record for ethercat eeprom communications

◆ ec_emcyt

typedef PACKED_END PACKED_BEGIN struct PACKED ec_emcyt

emergency request structure

◆ ec_mbxerrort

typedef PACKED_END PACKED_BEGIN struct PACKED ec_mbxerrort

mailbox error structure

Function Documentation

◆ ec_clearmbx()

void ec_clearmbx ( ec_mbxbuft * Mbx )

Clear mailbox buffer.

Parameters

[out] Mbx = Mailbox buffer to clear

Definition at line 921 of file ethercatmain.c.

◆ ec_close()

void ec_close ( void )

Close lib.

See also: ecx_close

Definition at line 2048 of file ethercatmain.c.

◆ ec_eeprom2master()

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 2243 of file ethercatmain.c.

◆ ec_eeprom2pdi()

int ec_eeprom2pdi ( uint16 slave )

Definition at line 2248 of file ethercatmain.c.

◆ ec_eeprom_waitnotbusyAP()

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

Definition at line 2253 of file ethercatmain.c.

◆ ec_eeprom_waitnotbusyFP()

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

Definition at line 2282 of file ethercatmain.c.

◆ ec_esidump()

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 2208 of file ethercatmain.c.

◆ ec_find_adapters()

ec_adaptert* ec_find_adapters ( void )

Create list over available network adapters.

Returns: First element in list over available network adapters.

Definition at line 131 of file ethercatmain.c.

◆ ec_free_adapters()

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 144 of file ethercatmain.c.

◆ ec_init()

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 2029 of file ethercatmain.c.

◆ ec_init_redundant()

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 2040 of file ethercatmain.c.

◆ ec_iserror()

boolean ec_iserror ( void )

Definition at line 2014 of file ethercatmain.c.

◆ ec_mbxempty()

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 2173 of file ethercatmain.c.

◆ ec_mbxreceive()

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 2198 of file ethercatmain.c.

◆ ec_mbxsend()

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 2185 of file ethercatmain.c.

◆ ec_nextmbxcnt()

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 907 of file ethercatmain.c.

◆ ec_packeterror()

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

Definition at line 2019 of file ethercatmain.c.

◆ ec_poperror()

boolean ec_poperror ( ec_errort * Ec )

Definition at line 2009 of file ethercatmain.c.

◆ ec_pusherror()

void ec_pusherror ( const ec_errort * Ec )

Definition at line 2004 of file ethercatmain.c.

◆ ec_readeeprom()

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 2220 of file ethercatmain.c.

◆ ec_readeeprom1()

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 2318 of file ethercatmain.c.

◆ ec_readeeprom2()

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 2330 of file ethercatmain.c.

◆ ec_readeepromAP()

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 2264 of file ethercatmain.c.

◆ ec_readeepromFP()

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 2294 of file ethercatmain.c.

◆ ec_readstate()

int ec_readstate ( void )

Read all slave states in ec_slave.

Returns: lowest state found

See also: ecx_readstate

Definition at line 2138 of file ethercatmain.c.

◆ ec_receive_processdata()

int ec_receive_processdata ( int timeout )

Definition at line 2393 of file ethercatmain.c.

◆ ec_receive_processdata_group()

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 2378 of file ethercatmain.c.

◆ ec_send_overlap_processdata()

int ec_send_overlap_processdata ( void )

Definition at line 2388 of file ethercatmain.c.

◆ ec_send_overlap_processdata_group()

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] group = group number

Returns: >0 if processdata is transmitted.

See also: ecx_send_overlap_processdata_group

Definition at line 2364 of file ethercatmain.c.

◆ ec_send_processdata()

int ec_send_processdata ( void )

Definition at line 2383 of file ethercatmain.c.

◆ ec_send_processdata_group()

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 2347 of file ethercatmain.c.

◆ ec_siifind()

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 2072 of file ethercatmain.c.

◆ ec_siiFMMU()

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 2094 of file ethercatmain.c.

◆ ec_siigetbyte()

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 2061 of file ethercatmain.c.

◆ ec_siiPDO()

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 2129 of file ethercatmain.c.

◆ ec_siiSM()

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 2105 of file ethercatmain.c.

◆ ec_siiSMnext()

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 2117 of file ethercatmain.c.

◆ ec_siistring()

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 2083 of file ethercatmain.c.

◆ ec_statecheck()

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 2162 of file ethercatmain.c.

◆ ec_writeeeprom()

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 2233 of file ethercatmain.c.

◆ ec_writeeepromAP()

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 2277 of file ethercatmain.c.

◆ ec_writeeepromFP()

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 2307 of file ethercatmain.c.

◆ ec_writestate()

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 2149 of file ethercatmain.c.

◆ ecx_clearindex()

static void ecx_clearindex ( ecx_contextt * context )

static

Clear the idx stack.

Parameters

context = context struct

Definition at line 1677 of file ethercatmain.c.

◆ ecx_close()

void ecx_close ( ecx_contextt * context )

Close lib.

Parameters

[in] context = context struct

Definition at line 321 of file ethercatmain.c.

◆ ecx_eeprom2master()

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 1189 of file ethercatmain.c.

◆ ecx_eeprom2pdi()

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 1222 of file ethercatmain.c.

◆ ecx_eeprom_waitnotbusyAP()

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

Definition at line 1243 of file ethercatmain.c.

◆ ecx_eeprom_waitnotbusyFP()

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

Definition at line 1412 of file ethercatmain.c.

◆ ecx_esidump()

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 1114 of file ethercatmain.c.

◆ ecx_FPRD_multi()

int ecx_FPRD_multi	(	ecx_contextt *	context,
		int	n,
		uint16 *	configlst,
		ec_alstatust *	slstatlst,
		int	timeout
	)

Definition at line 683 of file ethercatmain.c.

◆ ecx_init()

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 288 of file ethercatmain.c.

◆ ecx_init_redundant()

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 300 of file ethercatmain.c.

◆ ecx_iserror()

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 206 of file ethercatmain.c.

◆ ecx_main_send_processdata()

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
[in]	use_overlap_io	= flag if overlapped iomap is used

Returns: >0 if processdata is transmitted.

Definition at line 1697 of file ethercatmain.c.

◆ ecx_mbxemergencyerror()

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 264 of file ethercatmain.c.

◆ ecx_mbxempty()

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 932 of file ethercatmain.c.

◆ ecx_mbxerror()

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 240 of file ethercatmain.c.

◆ ecx_mbxreceive()

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 1001 of file ethercatmain.c.

◆ ecx_mbxsend()

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 968 of file ethercatmain.c.

◆ ecx_packeterror()

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 219 of file ethercatmain.c.

◆ ecx_poperror()

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 180 of file ethercatmain.c.

◆ ecx_pullindex()

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 1660 of file ethercatmain.c.

◆ ecx_pusherror()

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 154 of file ethercatmain.c.

◆ ecx_pushindex()

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 1645 of file ethercatmain.c.

◆ ecx_readeeprom()

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 1157 of file ethercatmain.c.

◆ ecx_readeeprom1()

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 1585 of file ethercatmain.c.

◆ ecx_readeeprom2()

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 1618 of file ethercatmain.c.

◆ ecx_readeepromAP()

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 1275 of file ethercatmain.c.

◆ ecx_readeepromFP()

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 1444 of file ethercatmain.c.

◆ ecx_readstate()

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 723 of file ethercatmain.c.

◆ ecx_receive_processdata()

int ecx_receive_processdata	(	ecx_contextt *	context,
		int	timeout
	)

Definition at line 1998 of file ethercatmain.c.

◆ ecx_receive_processdata_group()

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 1910 of file ethercatmain.c.

◆ ecx_send_overlap_processdata()

int ecx_send_overlap_processdata ( ecx_contextt * context )

Definition at line 1993 of file ethercatmain.c.

◆ ecx_send_overlap_processdata_group()

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 1879 of file ethercatmain.c.

◆ ecx_send_processdata()

int ecx_send_processdata ( ecx_contextt * context )

Definition at line 1988 of file ethercatmain.c.

◆ ecx_send_processdata_group()

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 1896 of file ethercatmain.c.

◆ ecx_siifind()

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 405 of file ethercatmain.c.

◆ ecx_siiFMMU()

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 503 of file ethercatmain.c.

◆ ecx_siigetbyte()

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 334 of file ethercatmain.c.

◆ ecx_siiPDO()

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 614 of file ethercatmain.c.

◆ ecx_siiSM()

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 543 of file ethercatmain.c.

◆ ecx_siiSMnext()

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 580 of file ethercatmain.c.

◆ ecx_siistring()

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 445 of file ethercatmain.c.

◆ ecx_statecheck()

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 862 of file ethercatmain.c.

◆ ecx_writeeeprom()

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 1175 of file ethercatmain.c.

◆ ecx_writeeepromAP()

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 1355 of file ethercatmain.c.

◆ ecx_writeeepromFP()

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 1524 of file ethercatmain.c.

◆ ecx_writestate()

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 832 of file ethercatmain.c.

Variable Documentation

◆ ec_DCtime

int64 ec_DCtime

Definition at line 95 of file ethercatmain.c.

◆ ec_elist

ec_eringt ec_elist

static

current slave for EEPROM cache buffer

Definition at line 78 of file ethercatmain.c.

◆ ec_esibuf

uint8 ec_esibuf[EC_MAXEEPBUF]

static

cache for EEPROM read functions

Definition at line 74 of file ethercatmain.c.

◆ ec_esimap

uint32 ec_esimap[EC_MAXEEPBITMAP]

static

bitmap for filled cache buffer bytes

Definition at line 76 of file ethercatmain.c.

◆ ec_FMMU

ec_eepromFMMUt ec_FMMU

static

buffer for EEPROM FMMU data

Definition at line 91 of file ethercatmain.c.

◆ ec_group

ec_groupt ec_group[EC_MAXGROUP]

slave group structure

Definition at line 71 of file ethercatmain.c.

◆ ec_idxstack

ec_idxstackT ec_idxstack

static

Definition at line 79 of file ethercatmain.c.

◆ ec_PDOassign

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_PDOdesc

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.

◆ ec_slave

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 67 of file ethercatmain.c.

◆ ec_slavecount

int ec_slavecount

number of slaves found on the network

Definition at line 69 of file ethercatmain.c.

◆ ec_SM

ec_eepromSMt ec_SM

static

buffer for EEPROM SM data

Definition at line 89 of file ethercatmain.c.

◆ ec_SMcommtype

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.

◆ EcatError

boolean EcatError = FALSE

Global variable TRUE if error available in error stack

Definition at line 93 of file ethercatmain.c.

◆ ecx_context

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,               
    0                   
}

Definition at line 100 of file ethercatmain.c.

◆ ecx_port

ecx_portt ecx_port

Definition at line 97 of file ethercatmain.c.

◆ ecx_redport

ecx_redportt ecx_redport

Definition at line 98 of file ethercatmain.c.

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ EC_LOCALDELAY

◆ MAX_FPRD_MULTI

Typedef Documentation

◆ ec_eepromt

◆ ec_emcyt

◆ ec_mbxerrort

Function Documentation

◆ ec_clearmbx()

◆ ec_close()

◆ ec_eeprom2master()

◆ ec_eeprom2pdi()

◆ ec_eeprom_waitnotbusyAP()

◆ ec_eeprom_waitnotbusyFP()

◆ ec_esidump()

◆ ec_find_adapters()

◆ ec_free_adapters()

◆ ec_init()

◆ ec_init_redundant()

◆ ec_iserror()

◆ ec_mbxempty()

◆ ec_mbxreceive()

◆ ec_mbxsend()

◆ ec_nextmbxcnt()

◆ ec_packeterror()

◆ ec_poperror()

◆ ec_pusherror()

◆ ec_readeeprom()

◆ ec_readeeprom1()

◆ ec_readeeprom2()

◆ ec_readeepromAP()

◆ ec_readeepromFP()

◆ ec_readstate()

◆ ec_receive_processdata()

◆ ec_receive_processdata_group()

◆ ec_send_overlap_processdata()

◆ ec_send_overlap_processdata_group()

◆ ec_send_processdata()

◆ ec_send_processdata_group()

◆ ec_siifind()

◆ ec_siiFMMU()

◆ ec_siigetbyte()

◆ ec_siiPDO()

◆ ec_siiSM()

◆ ec_siiSMnext()

◆ ec_siistring()

◆ ec_statecheck()

◆ ec_writeeeprom()

◆ ec_writeeepromAP()

◆ ec_writeeepromFP()

◆ ec_writestate()

◆ ecx_clearindex()

◆ ecx_close()

◆ ecx_eeprom2master()

◆ ecx_eeprom2pdi()

◆ ecx_eeprom_waitnotbusyAP()

◆ ecx_eeprom_waitnotbusyFP()

◆ ecx_esidump()

◆ ecx_FPRD_multi()

◆ ecx_init()

◆ ecx_init_redundant()

◆ ecx_iserror()

◆ ecx_main_send_processdata()

◆ ecx_mbxemergencyerror()

◆ ecx_mbxempty()

◆ ecx_mbxerror()

◆ ecx_mbxreceive()

◆ ecx_mbxsend()

◆ ecx_packeterror()

◆ ecx_poperror()

◆ ecx_pullindex()

◆ ecx_pusherror()

◆ ecx_pushindex()

◆ ecx_readeeprom()