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Classes
struct	ec_adapter

struct	ec_alstatus

struct	ec_eepromFMMU

struct	ec_eepromPDO

struct	ec_eepromSM

struct	ec_ering

struct	ec_fmmu

struct	ec_group

struct	ec_idxstack

struct	ec_mbxheader

struct	ec_PDOassign

struct	ec_PDOdesc

struct	ec_slave

struct	ec_sm

struct	ec_SMcommtype

struct	ec_state_status

struct	ecx_context

Macros
#define	EC_MAX_MAPT 1

#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 1486

#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_alstatus	ec_alstatust

typedef struct ec_eepromFMMU	ec_eepromFMMUt

typedef struct ec_eepromPDO	ec_eepromPDOt

typedef struct ec_eepromSM	ec_eepromSMt

typedef struct ec_ering	ec_eringt

typedef PACKED_BEGIN struct PACKED ec_fmmu	ec_fmmut

typedef struct ec_group	ec_groupt

typedef PACKED_END struct ec_idxstack	ec_idxstackT

typedef uint8	ec_mbxbuft[EC_MAXMBX+1]

typedef PACKED_BEGIN struct PACKED ec_mbxheader	ec_mbxheadert

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOassign	ec_PDOassignt

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOdesc	ec_PDOdesct

typedef struct ec_slave	ec_slavet

typedef PACKED_BEGIN struct PACKED ec_SMcommtype	ec_SMcommtypet

typedef PACKED_END PACKED_BEGIN struct PACKED ec_sm	ec_smt

typedef PACKED_END PACKED_BEGIN struct PACKED ec_state_status	ec_state_status

typedef struct ecx_context	ecx_contextt

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, const char ifname)

int	ecx_init_redundant (ecx_contextt context, ecx_redportt redport, const 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_overlap_processdata (ecx_contextt *context)

int	ecx_send_overlap_processdata_group (ecx_contextt *context, uint8 group)

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

◆ EC_MAX_MAPT

#define EC_MAX_MAPT 1

define maximum number of concurrent threads in mapping

Definition at line 41 of file ethercatmain.h.

◆ EC_MAXEEPDO

#define EC_MAXEEPDO 0x200

max. eeprom PDO entries

Definition at line 33 of file ethercatmain.h.

◆ EC_MAXELIST

#define EC_MAXELIST 64

max. entries in EtherCAT error list

Definition at line 21 of file ethercatmain.h.

◆ EC_MAXFMMU

#define EC_MAXFMMU 4

max. FMMU used

Definition at line 37 of file ethercatmain.h.

◆ EC_MAXGROUP

#define EC_MAXGROUP 2

max. number of groups

Definition at line 27 of file ethercatmain.h.

◆ EC_MAXIOSEGMENTS

#define EC_MAXIOSEGMENTS 64

max. number of IO segments per group

Definition at line 29 of file ethercatmain.h.

◆ EC_MAXLEN_ADAPTERNAME

#define EC_MAXLEN_ADAPTERNAME 128

max. Adapter

Definition at line 39 of file ethercatmain.h.

◆ EC_MAXMBX

#define EC_MAXMBX 1486

max. mailbox size

Definition at line 31 of file ethercatmain.h.

◆ EC_MAXNAME

#define EC_MAXNAME 40

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

Definition at line 23 of file ethercatmain.h.

◆ EC_MAXSLAVE

#define EC_MAXSLAVE 200

max. number of slaves in array

Definition at line 25 of file ethercatmain.h.

◆ EC_MAXSM

#define EC_MAXSM 8

max. SM used

Definition at line 35 of file ethercatmain.h.

◆ EC_SMENABLEMASK

#define EC_SMENABLEMASK 0xfffeffff

Definition at line 101 of file ethercatmain.h.

◆ ECT_COEDET_PDOASSIGN

#define ECT_COEDET_PDOASSIGN 0x04

Definition at line 96 of file ethercatmain.h.

◆ ECT_COEDET_PDOCONFIG

#define ECT_COEDET_PDOCONFIG 0x08

Definition at line 97 of file ethercatmain.h.

◆ ECT_COEDET_SDO

#define ECT_COEDET_SDO 0x01

Definition at line 94 of file ethercatmain.h.

◆ ECT_COEDET_SDOCA

#define ECT_COEDET_SDOCA 0x20

Definition at line 99 of file ethercatmain.h.

◆ ECT_COEDET_SDOINFO

#define ECT_COEDET_SDOINFO 0x02

Definition at line 95 of file ethercatmain.h.

◆ ECT_COEDET_UPLOAD

#define ECT_COEDET_UPLOAD 0x10

Definition at line 98 of file ethercatmain.h.

◆ ECT_MBXPROT_AOE

#define ECT_MBXPROT_AOE 0x0001

Definition at line 87 of file ethercatmain.h.

◆ ECT_MBXPROT_COE

#define ECT_MBXPROT_COE 0x0004

Definition at line 89 of file ethercatmain.h.

◆ ECT_MBXPROT_EOE

#define ECT_MBXPROT_EOE 0x0002

Definition at line 88 of file ethercatmain.h.

◆ ECT_MBXPROT_FOE

#define ECT_MBXPROT_FOE 0x0008

Definition at line 90 of file ethercatmain.h.

◆ ECT_MBXPROT_SOE

#define ECT_MBXPROT_SOE 0x0010

Definition at line 91 of file ethercatmain.h.

◆ ECT_MBXPROT_VOE

#define ECT_MBXPROT_VOE 0x0020

Definition at line 92 of file ethercatmain.h.

Typedef Documentation

◆ ec_adaptert

typedef struct ec_adapter ec_adaptert

Definition at line 43 of file ethercatmain.h.

◆ ec_alstatust

typedef PACKED_END PACKED_BEGIN struct PACKED ec_alstatus ec_alstatust

ALstatus and ALstatus code

◆ ec_eepromFMMUt

typedef struct ec_eepromFMMU ec_eepromFMMUt

SII FMMU structure

◆ ec_eepromPDOt

typedef struct ec_eepromPDO ec_eepromPDOt

record to store rxPDO and txPDO table from eeprom

◆ ec_eepromSMt

typedef struct ec_eepromSM ec_eepromSMt

SII SM structure

◆ ec_eringt

typedef struct ec_ering ec_eringt

ringbuf for error storage

◆ ec_fmmut

typedef PACKED_BEGIN struct PACKED ec_fmmu ec_fmmut

record for FMMU

◆ ec_groupt

typedef struct ec_group ec_groupt

for list of ethercat slave groups

◆ ec_idxstackT

typedef PACKED_END struct ec_idxstack ec_idxstackT

stack structure to store segmented LRD/LWR/LRW constructs

◆ ec_mbxbuft

typedef uint8 ec_mbxbuft[EC_MAXMBX+1]

mailbox buffer array

Definition at line 312 of file ethercatmain.h.

◆ ec_mbxheadert

typedef PACKED_BEGIN struct PACKED ec_mbxheader ec_mbxheadert

standard ethercat mailbox header

◆ ec_PDOassignt

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOassign ec_PDOassignt

SDO assign structure for CA

◆ ec_PDOdesct

typedef PACKED_END PACKED_BEGIN struct PACKED ec_PDOdesc ec_PDOdesct

SDO description structure for CA

◆ ec_slavet

typedef struct ec_slave ec_slavet

for list of ethercat slaves detected

◆ ec_SMcommtypet

typedef PACKED_BEGIN struct PACKED ec_SMcommtype ec_SMcommtypet

SyncManager Communication Type structure for CA

◆ ec_smt

typedef PACKED_END PACKED_BEGIN struct PACKED ec_sm ec_smt

record for sync manager

◆ ec_state_status

typedef PACKED_END PACKED_BEGIN struct PACKED ec_state_status ec_state_status

◆ ecx_contextt

typedef struct ecx_context ecx_contextt

Definition at line 103 of file ethercatmain.h.

Function Documentation

◆ ec_clearmbx()

void ec_clearmbx ( ec_mbxbuft * Mbx )

Clear mailbox buffer.

Parameters

[out] Mbx = Mailbox buffer to clear

Definition at line 921 of file ethercatmain.c.

◆ ec_find_adapters()

ec_adaptert* ec_find_adapters ( void )

Create list over available network adapters.

Returns: First element in list over available network adapters.

Definition at line 131 of file ethercatmain.c.

◆ ec_free_adapters()

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 144 of file ethercatmain.c.

◆ ec_nextmbxcnt()

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 907 of file ethercatmain.c.

◆ ecx_close()

void ecx_close ( ecx_contextt * context )

Close lib.

Parameters

[in] context = context struct

Definition at line 321 of file ethercatmain.c.

◆ ecx_eeprom2master()

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 1189 of file ethercatmain.c.

◆ ecx_eeprom2pdi()

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 1222 of file ethercatmain.c.

◆ ecx_esidump()

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 1114 of file ethercatmain.c.

◆ ecx_init()

int ecx_init	(	ecx_contextt *	context,
		const 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 288 of file ethercatmain.c.

◆ ecx_init_redundant()

int ecx_init_redundant	(	ecx_contextt *	context,
		ecx_redportt *	redport,
		const 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 300 of file ethercatmain.c.

◆ ecx_iserror()

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 206 of file ethercatmain.c.

◆ ecx_mbxempty()

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 932 of file ethercatmain.c.

◆ ecx_mbxreceive()

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 1001 of file ethercatmain.c.

◆ ecx_mbxsend()

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 968 of file ethercatmain.c.

◆ ecx_packeterror()

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 219 of file ethercatmain.c.

◆ ecx_poperror()

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 180 of file ethercatmain.c.

◆ ecx_pusherror()

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 154 of file ethercatmain.c.

◆ ecx_readeeprom()

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 1157 of file ethercatmain.c.

◆ ecx_readeeprom1()

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 1585 of file ethercatmain.c.

◆ ecx_readeeprom2()

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 1618 of file ethercatmain.c.

◆ ecx_readeepromAP()

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 1275 of file ethercatmain.c.

◆ ecx_readeepromFP()

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 1444 of file ethercatmain.c.

◆ ecx_readstate()

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 723 of file ethercatmain.c.

◆ ecx_receive_processdata()

int ecx_receive_processdata	(	ecx_contextt *	context,
		int	timeout
	)

Definition at line 1998 of file ethercatmain.c.

◆ ecx_receive_processdata_group()

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 1910 of file ethercatmain.c.

◆ ecx_send_overlap_processdata()

int ecx_send_overlap_processdata ( ecx_contextt * context )

Definition at line 1993 of file ethercatmain.c.

◆ ecx_send_overlap_processdata_group()

int ecx_send_overlap_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 in the overlapped IOmap. The outputs with the actual data, the inputs replace the output data in the returning frame. 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 1879 of file ethercatmain.c.

◆ ecx_send_processdata()

int ecx_send_processdata ( ecx_contextt * context )

Definition at line 1988 of file ethercatmain.c.

◆ ecx_send_processdata_group()

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 1896 of file ethercatmain.c.

◆ ecx_siifind()

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 405 of file ethercatmain.c.

◆ ecx_siiFMMU()

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 503 of file ethercatmain.c.

◆ ecx_siigetbyte()

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 capabilities 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 334 of file ethercatmain.c.

◆ ecx_siiPDO()

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 614 of file ethercatmain.c.

◆ ecx_siiSM()

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 543 of file ethercatmain.c.

◆ ecx_siiSMnext()

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 580 of file ethercatmain.c.

◆ ecx_siistring()

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 445 of file ethercatmain.c.

◆ ecx_statecheck()

uint16 ecx_statecheck	(	ecx_contextt *	context,
		uint16	slave,
		uint16	reqstate,
		int	timeout
	)

Check actual slave state. This is a blocking function. To refresh the state of all slaves ecx_readstate()should be called

Parameters

[in]	context	= context struct
[in]	slave	= Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
[in]	reqstate	= Requested state
[in]	timeout	= Timeout value in us

Returns: Requested state, or found state after timeout.

Definition at line 862 of file ethercatmain.c.

◆ ecx_writeeeprom()

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 1175 of file ethercatmain.c.

◆ ecx_writeeepromAP()

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 1355 of file ethercatmain.c.

◆ ecx_writeeepromFP()

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 1524 of file ethercatmain.c.

◆ ecx_writestate()

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: Workcounter or EC_NOFRAME

Definition at line 832 of file ethercatmain.c.

Classes

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ EC_MAX_MAPT

◆ EC_MAXEEPDO

◆ EC_MAXELIST

◆ EC_MAXFMMU

◆ EC_MAXGROUP

◆ EC_MAXIOSEGMENTS

◆ EC_MAXLEN_ADAPTERNAME

◆ EC_MAXMBX

◆ EC_MAXNAME

◆ EC_MAXSLAVE

◆ EC_MAXSM

◆ EC_SMENABLEMASK

◆ ECT_COEDET_PDOASSIGN

◆ ECT_COEDET_PDOCONFIG

◆ ECT_COEDET_SDO

◆ ECT_COEDET_SDOCA

◆ ECT_COEDET_SDOINFO

◆ ECT_COEDET_UPLOAD

◆ ECT_MBXPROT_AOE

◆ ECT_MBXPROT_COE

◆ ECT_MBXPROT_EOE

◆ ECT_MBXPROT_FOE

◆ ECT_MBXPROT_SOE

◆ ECT_MBXPROT_VOE

Typedef Documentation

◆ ec_adaptert

◆ ec_alstatust

◆ ec_eepromFMMUt

◆ ec_eepromPDOt

◆ ec_eepromSMt

◆ ec_eringt

◆ ec_fmmut

◆ ec_groupt

◆ ec_idxstackT

◆ ec_mbxbuft

◆ ec_mbxheadert

◆ ec_PDOassignt

◆ ec_PDOdesct

◆ ec_slavet

◆ ec_SMcommtypet

◆ ec_smt

◆ ec_state_status

◆ ecx_contextt

Function Documentation

◆ ec_clearmbx()

◆ ec_find_adapters()

◆ ec_free_adapters()

◆ ec_nextmbxcnt()

◆ ecx_close()

◆ ecx_eeprom2master()

◆ ecx_eeprom2pdi()

◆ ecx_esidump()

◆ ecx_init()

◆ ecx_init_redundant()

◆ ecx_iserror()

◆ ecx_mbxempty()

◆ ecx_mbxreceive()

◆ ecx_mbxsend()

◆ ecx_packeterror()

◆ ecx_poperror()

◆ ecx_pusherror()

◆ ecx_readeeprom()

◆ ecx_readeeprom1()

◆ ecx_readeeprom2()

◆ ecx_readeepromAP()

◆ ecx_readeepromFP()

◆ ecx_readstate()

◆ ecx_receive_processdata()

◆ ecx_receive_processdata_group()

◆ ecx_send_overlap_processdata()

◆ ecx_send_overlap_processdata_group()

◆ ecx_send_processdata()

◆ ecx_send_processdata_group()

◆ ecx_siifind()