Classes | Macros | Typedefs | Functions
ethercatmain.h File Reference

Headerfile for ethercatmain.c. More...

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Classes

struct  ec_adapter
 
struct  ec_eepromFMMUt
 
struct  ec_eepromPDOt
 
struct  ec_eepromSMt
 
struct  ec_eringt
 
struct  ec_groupt
 
struct  ec_idxstackT
 
struct  ec_slavet
 
struct  ecx_contextt
 
struct  PACKED
 
struct  PACKED
 
struct  PACKED
 
struct  PACKED
 
struct  PACKED
 
struct  PACKED
 
struct  PACKED
 
struct  PACKED
 

Macros

#define EC_MAXEEPDO   0x200
 
#define EC_MAXELIST   64
 
#define EC_MAXFMMU   4
 
#define EC_MAXGROUP   2
 
#define EC_MAXIOSEGMENTS   64
 
#define EC_MAXLEN_ADAPTERNAME   128
 
#define EC_MAXMBX   0x3ff
 
#define EC_MAXNAME   40
 
#define EC_MAXSLAVE   200
 
#define EC_MAXSM   8
 
#define EC_SMENABLEMASK   0xfffeffff
 
#define ECT_COEDET_PDOASSIGN   0x04
 
#define ECT_COEDET_PDOCONFIG   0x08
 
#define ECT_COEDET_SDO   0x01
 
#define ECT_COEDET_SDOCA   0x20
 
#define ECT_COEDET_SDOINFO   0x02
 
#define ECT_COEDET_UPLOAD   0x10
 
#define ECT_MBXPROT_AOE   0x0001
 
#define ECT_MBXPROT_COE   0x0004
 
#define ECT_MBXPROT_EOE   0x0002
 
#define ECT_MBXPROT_FOE   0x0008
 
#define ECT_MBXPROT_SOE   0x0010
 
#define ECT_MBXPROT_VOE   0x0020
 

Typedefs

typedef struct ec_adapter ec_adaptert
 
typedef PACKED_END PACKED_BEGIN struct PACKED ec_alstatust
 
typedef PACKED_BEGIN struct PACKED ec_fmmut
 
typedef uint8 ec_mbxbuft[EC_MAXMBX+1]
 
typedef PACKED_BEGIN struct PACKED ec_mbxheadert
 
typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOassignt
 
typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOdesct
 
typedef PACKED_BEGIN struct PACKED ec_SMcommtypet
 
typedef PACKED_END PACKED_BEGIN struct PACKED ec_smt
 
typedef PACKED_END PACKED_BEGIN struct PACKED ec_state_status
 

Functions

void ec_clearmbx (ec_mbxbuft *Mbx)
 
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)
 
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)
 
int ecx_mbxempty (ecx_contextt *context, uint16 slave, int timeout)
 
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)
 
void ecx_pusherror (ecx_contextt *context, const ec_errort *Ec)
 
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

Headerfile for ethercatmain.c.

Definition in file ethercatmain.h.

Macro Definition Documentation

#define EC_MAXEEPDO   0x200

max. eeprom PDO entries

Definition at line 68 of file ethercatmain.h.

#define EC_MAXELIST   64

max. etries in EtherCAT error list

Definition at line 56 of file ethercatmain.h.

#define EC_MAXFMMU   4

max. FMMU used

Definition at line 72 of file ethercatmain.h.

#define EC_MAXGROUP   2

max. number of groups

Definition at line 62 of file ethercatmain.h.

#define EC_MAXIOSEGMENTS   64

max. number of IO segments per group

Definition at line 64 of file ethercatmain.h.

#define EC_MAXLEN_ADAPTERNAME   128

max. Adapter

Definition at line 74 of file ethercatmain.h.

#define EC_MAXMBX   0x3ff

max. mailbox size

Definition at line 66 of file ethercatmain.h.

#define EC_MAXNAME   40

max. length of readable name in slavelist and Object Description List

Definition at line 58 of file ethercatmain.h.

#define EC_MAXSLAVE   200

max. number of slaves in array

Definition at line 60 of file ethercatmain.h.

#define EC_MAXSM   8

max. SM used

Definition at line 70 of file ethercatmain.h.

#define EC_SMENABLEMASK   0xfffeffff

Definition at line 134 of file ethercatmain.h.

#define ECT_COEDET_PDOASSIGN   0x04

Definition at line 129 of file ethercatmain.h.

#define ECT_COEDET_PDOCONFIG   0x08

Definition at line 130 of file ethercatmain.h.

#define ECT_COEDET_SDO   0x01

Definition at line 127 of file ethercatmain.h.

#define ECT_COEDET_SDOCA   0x20

Definition at line 132 of file ethercatmain.h.

#define ECT_COEDET_SDOINFO   0x02

Definition at line 128 of file ethercatmain.h.

#define ECT_COEDET_UPLOAD   0x10

Definition at line 131 of file ethercatmain.h.

#define ECT_MBXPROT_AOE   0x0001

Definition at line 120 of file ethercatmain.h.

#define ECT_MBXPROT_COE   0x0004

Definition at line 122 of file ethercatmain.h.

#define ECT_MBXPROT_EOE   0x0002

Definition at line 121 of file ethercatmain.h.

#define ECT_MBXPROT_FOE   0x0008

Definition at line 123 of file ethercatmain.h.

#define ECT_MBXPROT_SOE   0x0010

Definition at line 124 of file ethercatmain.h.

#define ECT_MBXPROT_VOE   0x0020

Definition at line 125 of file ethercatmain.h.

Typedef Documentation

typedef struct ec_adapter ec_adaptert

Definition at line 76 of file ethercatmain.h.

typedef PACKED_END PACKED_BEGIN struct PACKED ec_alstatust

ALstatus and ALstatus code

typedef PACKED_BEGIN struct PACKED ec_fmmut

record for FMMU

typedef uint8 ec_mbxbuft[EC_MAXMBX+1]

mailbox buffer array

Definition at line 341 of file ethercatmain.h.

typedef PACKED_BEGIN struct PACKED ec_mbxheadert

standard ethercat mailbox header

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOassignt

SDO assign structure for CA

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOdesct

SDO description structure for CA

typedef PACKED_BEGIN struct PACKED ec_SMcommtypet

SyncManager Communication Type structure for CA

typedef PACKED_END PACKED_BEGIN struct PACKED ec_smt

record for sync manager

typedef PACKED_END PACKED_BEGIN struct PACKED ec_state_status

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.

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 1082 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 1115 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 1007 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.

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.

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.

void ecx_pusherror ( ecx_contextt *  context,
const ec_errort *  Ec 
)

Pushes an error on the error list.

Parameters
[in]context= context struct
[in]Ecpointer describing the error.

Definition at line 188 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 1050 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 1476 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 1509 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 1167 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 1335 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 1809 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 1736 of file ethercatmain.c.

int ecx_send_processdata ( ecx_contextt *  context)

Definition at line 1804 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 1575 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 1068 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 1247 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 1415 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.


youbot_driver
Author(s): Jan Paulus
autogenerated on Mon Jun 10 2019 15:46:26