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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

Headerfile for ethercatbase.c.

Definition in file ethercatbase.h.

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