Main EtherCAT functions. More...

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

Include dependency graph for ethercatmain.c:

Go to the source code of this file.

Classes
struct	PACKED
struct	PACKED
struct	PACKED
Defines
#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)
PACKED_END ec_adaptert *	ec_find_adapters (void)
void	ec_free_adapters (ec_adaptert *adapter)
uint8	ec_nextmbxcnt (uint8 cnt)
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)

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 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.

PACKED_END 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.

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 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.

Classes

Defines

Typedefs

Functions

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation