Headerfile for ethercatmain.c. More...

Data Structures
struct	ec_adaptert

struct	ec_fmmut

struct	ec_smt

struct	ec_state_status

struct	ec_slavet

struct	ec_groupt

struct	ec_eepromFMMUt

struct	ec_eepromSMt

struct	ec_eepromPDOt

struct	ec_mbxheadert

struct	ec_alstatust

struct	ec_idxstackT

struct	ec_eringt

struct	ec_SMcommtypet

struct	ec_PDOassignt

struct	ec_PDOdesct

struct	ecx_contextt

Macros
#define	EC_MAXELIST 64

#define	EC_MAXNAME 40

#define	EC_MAXSLAVE 200

#define	EC_MAXGROUP 2

#define	EC_MAXIOSEGMENTS 64

#define	EC_MAXMBX 0x3ff

#define	EC_MAXEEPDO 0x200

#define	EC_MAXSM 8

#define	EC_MAXFMMU 4

#define	EC_MAXLEN_ADAPTERNAME 128

#define	ECT_MBXPROT_AOE 0x0001

#define	ECT_MBXPROT_EOE 0x0002

#define	ECT_MBXPROT_COE 0x0004

#define	ECT_MBXPROT_FOE 0x0008

#define	ECT_MBXPROT_SOE 0x0010

#define	ECT_MBXPROT_VOE 0x0020

#define	ECT_COEDET_SDO 0x01

#define	ECT_COEDET_SDOINFO 0x02

#define	ECT_COEDET_PDOASSIGN 0x04

#define	ECT_COEDET_PDOCONFIG 0x08

#define	ECT_COEDET_UPLOAD 0x10

#define	ECT_COEDET_SDOCA 0x20

#define	EC_SMENABLEMASK 0xfffeffff

Typedefs
typedef uint8	ec_mbxbuft [EC_MAXMBX+1]

Functions
ec_adaptert *	ec_find_adapters (void)

void	ec_free_adapters (ec_adaptert *adapter)

uint8	ec_nextmbxcnt (uint8 cnt)

void	ec_clearmbx (ec_mbxbuft *Mbx)

void	ecx_pusherror (ecx_contextt context, const ec_errort Ec)

boolean	ecx_poperror (ecx_contextt context, ec_errort Ec)

boolean	ecx_iserror (ecx_contextt *context)

void	ecx_packeterror (ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)

int	ecx_init (ecx_contextt context, char ifname)

int	ecx_init_redundant (ecx_contextt context, ecx_redportt redport, char ifname, char if2name)

void	ecx_close (ecx_contextt *context)

uint8	ecx_siigetbyte (ecx_contextt *context, uint16 slave, uint16 address)

int16	ecx_siifind (ecx_contextt *context, uint16 slave, uint16 cat)

void	ecx_siistring (ecx_contextt context, char str, uint16 slave, uint16 Sn)

uint16	ecx_siiFMMU (ecx_contextt context, uint16 slave, ec_eepromFMMUt FMMU)

uint16	ecx_siiSM (ecx_contextt context, uint16 slave, ec_eepromSMt SM)

uint16	ecx_siiSMnext (ecx_contextt context, uint16 slave, ec_eepromSMt SM, uint16 n)

int	ecx_siiPDO (ecx_contextt context, uint16 slave, ec_eepromPDOt PDO, uint8 t)

int	ecx_readstate (ecx_contextt *context)

int	ecx_writestate (ecx_contextt *context, uint16 slave)

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

int	ecx_mbxempty (ecx_contextt *context, uint16 slave, int timeout)

int	ecx_mbxsend (ecx_contextt context, uint16 slave, ec_mbxbuft mbx, int timeout)

int	ecx_mbxreceive (ecx_contextt context, uint16 slave, ec_mbxbuft mbx, int timeout)

void	ecx_esidump (ecx_contextt context, uint16 slave, uint8 esibuf)

uint32	ecx_readeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout)

int	ecx_writeeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout)

int	ecx_eeprom2master (ecx_contextt *context, uint16 slave)

int	ecx_eeprom2pdi (ecx_contextt *context, uint16 slave)

uint64	ecx_readeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout)

int	ecx_writeeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout)

uint64	ecx_readeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout)

int	ecx_writeeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout)

void	ecx_readeeprom1 (ecx_contextt *context, uint16 slave, uint16 eeproma)

uint32	ecx_readeeprom2 (ecx_contextt *context, uint16 slave, int timeout)

int	ecx_send_processdata_group (ecx_contextt *context, uint8 group)

int	ecx_receive_processdata_group (ecx_contextt *context, uint8 group, int timeout)

int	ecx_send_processdata (ecx_contextt *context)

int	ecx_receive_processdata (ecx_contextt *context, int timeout)

Detailed Description

Headerfile for ethercatmain.c.

Macro Definition Documentation

#define EC_MAXEEPDO 0x200

max. eeprom PDO entries

#define EC_MAXELIST 64

max. etries in EtherCAT error list

#define EC_MAXFMMU 4

max. FMMU used

#define EC_MAXGROUP 2

max. number of groups

#define EC_MAXIOSEGMENTS 64

max. number of IO segments per group

#define EC_MAXLEN_ADAPTERNAME 128

max. Adapter

#define EC_MAXMBX 0x3ff

max. mailbox size

#define EC_MAXNAME 40

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

#define EC_MAXSLAVE 200

max. number of slaves in array

#define EC_MAXSM 8

max. SM used

#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

Typedef Documentation

typedef uint8 ec_mbxbuft[EC_MAXMBX+1]

mailbox buffer array

Function Documentation

void ec_clearmbx ( ec_mbxbuft * Mbx )

Clear mailbox buffer.

Parameters

[out] Mbx = Mailbox buffer to clear

ec_adaptert* ec_find_adapters ( void )

Create list over available network adapters.

Returns: First element in list over available network 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.

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

void ecx_close ( ecx_contextt * context )

Close lib.

Parameters

[in] context = context struct

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

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

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.

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

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

boolean ecx_iserror ( ecx_contextt * context )

Check if error list has entries.

Parameters

[in] context = context struct

Returns: TRUE if error list contains entries.

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

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)

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)

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

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.

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.

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

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

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

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

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

int ecx_readstate ( ecx_contextt * context )

Read all slave states in ec_slave.

Parameters

[in] context = context struct

Returns: lowest state found

int ecx_receive_processdata	(	ecx_contextt *	context,
		int	timeout
	)

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.

int ecx_send_processdata ( ecx_contextt * context )

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.

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

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

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

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

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

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

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

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.

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

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

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

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

Data Structures

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation