Main EtherCAT functions. More...

#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <youbot_driver/soem/ethercattype.h>
#include <youbot_driver/soem/nicdrv.h>
#include <youbot_driver/soem/ethercatbase.h>
#include <youbot_driver/soem/ethercatmain.h>

Include dependency graph for ethercatmain.c:

Go to the source code of this file.

Classes
struct	ec_emcyt
struct	ec_eringt
struct	ec_idxstackT
struct	PACKED
Defines
#define	EC_LOCALDELAY 200
Typedefs
typedef struct PACKED	ec_eepromt
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, uint8 test)
int	ec_init (const char *ifname)
int	ec_init_redundant (const char ifname, const 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)
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)
static int	ec_pullindex (void)
void	ec_pusherror (const ec_errort *Ec)
static void	ec_pushindex (uint8 idx, void *data, uint16 length)
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)
Variables
static uint16	ec_DCl
int64	ec_DCtime
uint16	ec_DCtO
static ec_eringt	ec_elist
ec_groupt	ec_group [EC_MAXGROUP]
static ec_idxstackT	ec_idxstack
ec_slavet	ec_slave [EC_MAXSLAVE]
int	ec_slavecount
boolean	EcatError = FALSE
static uint8	esibuf [EC_MAXEEPBUF]
static uint32	esimap [EC_MAXEEPBITMAP]
static uint16	esislave = 0

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.

Define Documentation

#define EC_LOCALDELAY 200

delay in us for eeprom ready loop

Definition at line 64 of file ethercatmain.c.

Typedef Documentation

typedef struct PACKED ec_eepromt

record for ethercat eeprom communications

Function Documentation

void ec_clearmbx ( ec_mbxbuft * Mbx )

Clear mailbox buffer.

Parameters:

[out] Mbx = Mailbox buffer to clear

Definition at line 694 of file ethercatmain.c.

void ec_close ( void )

Close lib.

Definition at line 260 of file ethercatmain.c.

int ec_eeprom2master ( uint16 slave )

Set eeprom control to master. Only if set to PDI.

Parameters:

[in] slave = Slave number

Returns:: >0 if OK

Definition at line 915 of file ethercatmain.c.

int ec_eeprom2pdi ( uint16 slave )

Set eeprom control to PDI. Only if set to master.

Parameters:

[in] slave = Slave number

Returns:: >0 if OK

Definition at line 945 of file ethercatmain.c.

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

Definition at line 965 of file ethercatmain.c.

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

Definition at line 1125 of file ethercatmain.c.

void ec_esidump	(	uint16	slave,
		uint8 *	esibuf,
		uint8	test
	)

Dump complete EEPROM data from slave in buffer.

Parameters:

[in]	slave	= Slave number
[out]	esibuf	= EEPROM data buffer, make sure it is big enough.

Definition at line 850 of file ethercatmain.c.

int ec_init ( const char * ifname )

Initialise lib in single NIC mode

Parameters:

[in] ifname = Dev name, f.e. "eth0"

Returns:: >0 if OK

Definition at line 231 of file ethercatmain.c.

int ec_init_redundant	(	const char *	ifname,
		const 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

Definition at line 241 of file ethercatmain.c.

boolean ec_iserror ( void )

Check if error list has entries.

Returns:: TRUE if error list contains entries.

Definition at line 175 of file ethercatmain.c.

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

Report Mailbox Emergency Error

Parameters:

[in]	Slave	= Slave number
[in]	ErrorCode	= Following EtherCAT specification
[in]	ErrorReg
[in]	b1
[in]	w1
[in]	w2

Definition at line 210 of file ethercatmain.c.

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

Definition at line 704 of file ethercatmain.c.

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)

Definition at line 765 of file ethercatmain.c.

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)

Definition at line 735 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 683 of file ethercatmain.c.

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

Report packet error

Parameters:

[in]	Slave	= Slave number
[in]	Index	= Index that generated error
[in]	SubIdx	= Subindex that generated error
[in]	ErrorCode	= Error code

Definition at line 187 of file ethercatmain.c.

boolean ec_poperror ( ec_errort * Ec )

Pops an error from the list.

Parameters:

[out] Ec = Struct describing the error.

Returns:: TRUE if an error was popped.

Definition at line 154 of file ethercatmain.c.

static int ec_pullindex ( void ) [static]

Pull index of segmented LRD/LWR/LRW combination.

Returns:: Stack location, -1 if stack is empty.

Definition at line 1361 of file ethercatmain.c.

void ec_pusherror ( const ec_errort * Ec )

Pushes an error on the error list.

Parameters:

[in] Ec Struct describing the error.

Definition at line 135 of file ethercatmain.c.

static void ec_pushindex	(	uint8	idx,
		void *	data,
		uint16	length
	)		`[static]`

Push index of segmented LRD/LWR/LRW combination.

Parameters:

[in]	idx	= Used datagram index.
[in]	data	= Pointer to process data segment.
[in]	length	= Length of data segment in bytes.

Definition at line 1347 of file ethercatmain.c.

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

Definition at line 886 of file ethercatmain.c.

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

Definition at line 1288 of file ethercatmain.c.

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

Definition at line 1318 of file ethercatmain.c.

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 993 of file ethercatmain.c.

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

Definition at line 1153 of file ethercatmain.c.

int ec_readstate ( void )

Read all slave states in ec_slave.

Returns:: lowest state found

Definition at line 585 of file ethercatmain.c.

int ec_receive_processdata ( int timeout )

Definition at line 1560 of file ethercatmain.c.

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] timeout = Timeout in us.

Returns:: Work counter.

Definition at line 1512 of file ethercatmain.c.

int ec_send_processdata ( void )

Definition at line 1555 of file ethercatmain.c.

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.

Returns:: >0 if processdata is transmitted.

Definition at line 1383 of file ethercatmain.c.

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

Definition at line 341 of file ethercatmain.c.

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

Definition at line 419 of file ethercatmain.c.

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

Definition at line 273 of file ethercatmain.c.

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

Definition at line 519 of file ethercatmain.c.

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

Definition at line 455 of file ethercatmain.c.

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

Definition at line 489 of file ethercatmain.c.

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

Definition at line 377 of file ethercatmain.c.

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	= Timout value in us

Returns:: Requested state, or found state after timeout.

Definition at line 639 of file ethercatmain.c.

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

Definition at line 902 of file ethercatmain.c.

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

Definition at line 1069 of file ethercatmain.c.

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

Definition at line 1229 of file ethercatmain.c.

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

Definition at line 615 of file ethercatmain.c.

Variable Documentation

uint16 ec_DCl [static]

Definition at line 128 of file ethercatmain.c.

int64 ec_DCtime

Definition at line 129 of file ethercatmain.c.

uint16 ec_DCtO

Definition at line 127 of file ethercatmain.c.

ec_eringt ec_elist [static]

Definition at line 121 of file ethercatmain.c.

ec_groupt ec_group[EC_MAXGROUP]

slave group structure

Definition at line 113 of file ethercatmain.c.

ec_idxstackT ec_idxstack [static]

Definition at line 122 of file ethercatmain.c.

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 109 of file ethercatmain.c.

int ec_slavecount

number of slaves found on the network

Definition at line 111 of file ethercatmain.c.

boolean EcatError = FALSE

Global variable TRUE if error available in error stack

Definition at line 125 of file ethercatmain.c.

uint8 esibuf[EC_MAXEEPBUF] [static]

cache for EEPROM read functions

Definition at line 116 of file ethercatmain.c.

uint32 esimap[EC_MAXEEPBITMAP] [static]

bitmap for filled cache buffer bytes