Base EtherCAT functions. More...

#include <stdio.h>
#include <string.h>
#include <youbot_driver/soem/ethercattype.h>
#include <youbot_driver/soem/nicdrv.h>
#include <youbot_driver/soem/ethercatbase.h>

Include dependency graph for ethercatbase.c:

Go to the source code of this file.

Functions
int	ec_adddatagram (void frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void data)
int	ec_APRD (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
uint16	ec_APRDw (uint16 ADP, uint16 ADO, int timeout)
int	ec_APWR (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_APWRw (uint16 ADP, uint16 ADO, uint16 data, int timeout)
int	ec_ARMW (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_BRD (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_BWR (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_FPRD (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
uint16	ec_FPRDw (uint16 ADP, uint16 ADO, int16 timeout)
int	ec_FPWR (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_FPWRw (uint16 ADP, uint16 ADO, uint16 data, int timeout)
int	ec_FRMW (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_LRD (uint32 LogAdr, uint16 length, void *data, int timeout)
int	ec_LRW (uint32 LogAdr, uint16 length, void *data, int timeout)
int	ec_LRWDC (uint32 LogAdr, uint16 length, void data, uint16 DCrs, int64 DCtime, int timeout)
int	ec_LWR (uint32 LogAdr, uint16 length, void *data, int timeout)
int	ec_setupdatagram (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 ec_adddatagram	(	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:

[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 109 of file ethercatbase.c.

int ec_APRD	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

APRD "auto increment address read" primitive. Blocking.

Parameters:

[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 220 of file ethercatbase.c.

uint16 ec_APRDw	(	uint16	ADP,
		uint16	ADO,
		int	timeout
	)

APRDw "auto increment address read" word return primitive. Blocking.

Parameters:

[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 298 of file ethercatbase.c.

int ec_APWR	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

APWR "auto increment address write" primitive. Blocking.

Parameters:

[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 ec_APWRw	(	uint16	ADP,
		uint16	ADO,
		uint16	data,
		int	timeout
	)

APWRw "auto increment address write" word primitive. Blocking.

Parameters:

[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 358 of file ethercatbase.c.

int ec_ARMW	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

APRMW "auto increment address read, multiple write" primitive. Blocking.

Parameters:

[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 247 of file ethercatbase.c.

int ec_BRD	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

BRD "broadcast read" primitive. Blocking.

Parameters:

[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 189 of file ethercatbase.c.

int ec_BWR	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

BRW "broadcast write" primitive. Blocking.

Parameters:

[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 163 of file ethercatbase.c.

int ec_FPRD	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

FPRD "configured address read" primitive. Blocking.

Parameters:

[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 317 of file ethercatbase.c.

uint16 ec_FPRDw	(	uint16	ADP,
		uint16	ADO,
		int16	timeout
	)

FPRDw "configured address read" word return primitive. Blocking.

Parameters:

[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 341 of file ethercatbase.c.

int ec_FPWR	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

FPWR "configured address write" primitive. Blocking.

Parameters:

[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 407 of file ethercatbase.c.

int ec_FPWRw	(	uint16	ADP,
		uint16	ADO,
		uint16	data,
		int	timeout
	)

FPWR "configured address write" primitive. Blocking.

Parameters:

[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 393 of file ethercatbase.c.

int ec_FRMW	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

FPRMW "configured address read, multiple write" primitive. Blocking.

Parameters:

[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 274 of file ethercatbase.c.

int ec_LRD	(	uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

LRD "logical memory read" primitive. Blocking.

Parameters:

[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 453 of file ethercatbase.c.

int ec_LRW	(	uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

LRW "logical memory read / write" primitive. Blocking.

Parameters:

[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 428 of file ethercatbase.c.

int ec_LRWDC	(	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]	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 502 of file ethercatbase.c.

int ec_LWR	(	uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

LWR "logical memory write" primitive. Blocking.

Parameters:

[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 478 of file ethercatbase.c.

int ec_setupdatagram	(	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:

[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 69 of file ethercatbase.c.

Functions

Detailed Description

Function Documentation