ethercatmain.c File Reference

Main EtherCAT functions. More...

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

Include dependency graph for ethercatmain.c:

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Data Structures
struct	ec_idxstackT
	stack structure to store segmented LRD/LWR/LRW constructs More...
struct	PACKED
	SDO structure, not to be confused with EcSDOserviceT. More...
struct	ec_eringt
	ringbuf for error storage More...
struct	ec_emcyt
	emergency request structure More...
Defines
#define	EC_LOCALDELAY 200
	delay in us for eeprom ready loop
Typedefs
typedef struct PACKED	ec_eepromt
	record for ethercat eeprom communications
Functions
void	ec_pusherror (const ec_errort *Ec)
	Pushes an error on the error list.
boolean	ec_poperror (ec_errort *Ec)
	Pops an error from the list.
boolean	ec_iserror (void)
	Check if error list has entries.
void	ec_packeterror (uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)
	Report packet error.
int	ec_init (const char *ifname)
	Initialise lib in single NIC mode.
int	ec_init_redundant (const char ifname, const char if2name)
	Initialise lib in redundant NIC mode.
void	ec_close (void)
	Close lib.
uint8	ec_siigetbyte (uint16 slave, uint16 address)
	Read one byte from slave EEPROM via cache.
int16	ec_siifind (uint16 slave, uint16 cat)
	Find SII section header in slave EEPROM.
void	ec_siistring (char *str, uint16 slave, uint16 Sn)
	Get string from SII string section in slave EEPROM.
uint16	ec_siiFMMU (uint16 slave, ec_eepromFMMUt *FMMU)
	Get FMMU data from SII FMMU section in slave EEPROM.
uint16	ec_siiSM (uint16 slave, ec_eepromSMt *SM)
	Get SM data from SII SM section in slave EEPROM.
uint16	ec_siiSMnext (uint16 slave, ec_eepromSMt *SM, uint16 n)
	Get next SM data from SII SM section in slave EEPROM.
int	ec_siiPDO (uint16 slave, ec_eepromPDOt *PDO, uint8 t)
	Get PDO data from SII PDO section in slave EEPROM.
int	ec_readstate (void)
	Read all slave states in ec_slave.
int	ec_writestate (uint16 slave)
	Write slave state, if slave = 0 then write to all slaves.
uint16	ec_statecheck (uint16 slave, uint16 reqstate, int timeout)
	Check actual slave state.
uint8	ec_nextmbxcnt (uint8 cnt)
	Get index of next mailbox counter value.
void	ec_clearmbx (ec_mbxbuft *Mbx)
	Clear mailbox buffer.
int	ec_mbxempty (uint16 slave, int timeout)
	Check if IN mailbox of slave is empty.
int	ec_mbxsend (uint16 slave, ec_mbxbuft *mbx, int timeout)
	Write IN mailbox to slave.
int	ec_mbxreceive (uint16 slave, ec_mbxbuft *mbx, int timeout)
	Read OUT mailbox from slave.
void	ec_esidump (uint16 slave, uint8 *esibuf, uint8 test)
	Dump complete EEPROM data from slave in buffer.
uint32	ec_readeeprom (uint16 slave, uint16 eeproma, int timeout)
	Read EEPROM from slave bypassing cache.
int	ec_writeeeprom (uint16 slave, uint16 eeproma, uint16 data, int timeout)
	Write EEPROM to slave bypassing cache.
int	ec_eeprom2master (uint16 slave)
	Set eeprom control to master.
int	ec_eeprom2pdi (uint16 slave)
	Set eeprom control to PDI.
uint16	ec_eeprom_waitnotbusyAP (uint16 aiadr, uint16 *estat, int timeout)
uint64	ec_readeepromAP (uint16 aiadr, uint16 eeproma, int timeout)
	Read EEPROM from slave bypassing cache.
int	ec_writeeepromAP (uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
	Write EEPROM to slave bypassing cache.
uint16	ec_eeprom_waitnotbusyFP (uint16 configadr, uint16 *estat, int timeout)
uint64	ec_readeepromFP (uint16 configadr, uint16 eeproma, int timeout)
	Read EEPROM from slave bypassing cache.
int	ec_writeeepromFP (uint16 configadr, uint16 eeproma, uint16 data, int timeout)
	Write EEPROM to slave bypassing cache.
void	ec_readeeprom1 (uint16 slave, uint16 eeproma)
	Read EEPROM from slave bypassing cache.
uint32	ec_readeeprom2 (uint16 slave, int timeout)
	Read EEPROM from slave bypassing cache.
int	ec_send_processdata_group (uint8 group)
	Transmit processdata to slaves.
int	ec_receive_processdata_group (uint8 group, int timeout)
	Receive processdata from slaves.
int	ec_send_processdata (void)
int	ec_receive_processdata (int timeout)
Variables
ec_slavet	ec_slave [EC_MAXSLAVE]
	Main slave data array.
int	ec_slavecount
	number of slaves found on the network
ec_groupt	ec_group [EC_MAXGROUP]
	slave group structure
boolean	EcatError = FALSE
	Global variable TRUE if error available in error stack.
uint16	ec_DCtO
int64	ec_DCtime

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 684 of file ethercatmain.c.

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void ec_close ( void )

Close lib.

Definition at line 259 of file ethercatmain.c.

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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 905 of file ethercatmain.c.

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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 937 of file ethercatmain.c.

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

Definition at line 958 of file ethercatmain.c.

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

Definition at line 1119 of file ethercatmain.c.

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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 840 of file ethercatmain.c.

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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 230 of file ethercatmain.c.

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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 240 of file ethercatmain.c.

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boolean ec_iserror ( void )

Check if error list has entries.

Returns:: TRUE if error list contains entries.

Definition at line 173 of file ethercatmain.c.

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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 694 of file ethercatmain.c.

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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 754 of file ethercatmain.c.

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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 724 of file ethercatmain.c.

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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 673 of file ethercatmain.c.

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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 185 of file ethercatmain.c.

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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 153 of file ethercatmain.c.

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void ec_pusherror ( const ec_errort * Ec )

Pushes an error on the error list.

Parameters:

[in] Ec Struct describing the error.

Definition at line 134 of file ethercatmain.c.

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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 875 of file ethercatmain.c.

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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 1283 of file ethercatmain.c.

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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 1313 of file ethercatmain.c.

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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 985 of file ethercatmain.c.

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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 1146 of file ethercatmain.c.

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int ec_readstate ( void )

Read all slave states in ec_slave.

Returns:: lowest state found

Definition at line 576 of file ethercatmain.c.

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int ec_receive_processdata ( int timeout )

Definition at line 1555 of file ethercatmain.c.

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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 1507 of file ethercatmain.c.

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int ec_send_processdata ( void )

Definition at line 1550 of file ethercatmain.c.

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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 1378 of file ethercatmain.c.

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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 339 of file ethercatmain.c.

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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 415 of file ethercatmain.c.

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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 271 of file ethercatmain.c.

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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 512 of file ethercatmain.c.

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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 450 of file ethercatmain.c.

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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 483 of file ethercatmain.c.

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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 374 of file ethercatmain.c.

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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 630 of file ethercatmain.c.

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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 891 of file ethercatmain.c.

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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 1062 of file ethercatmain.c.

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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 1223 of file ethercatmain.c.

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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 606 of file ethercatmain.c.

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Variable Documentation

int64 ec_DCtime

Definition at line 128 of file ethercatmain.c.

uint16 ec_DCtO

Definition at line 126 of file ethercatmain.c.

ec_groupt ec_group[EC_MAXGROUP]

slave group structure

Definition at line 112 of file ethercatmain.c.

ec_slavet ec_slave[EC_MAXSLAVE]

Main slave data array.

main slave data structure 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 108 of file ethercatmain.c.

int ec_slavecount

number of slaves found on the network

number of slaves found by configuration function

Definition at line 110 of file ethercatmain.c.

boolean EcatError = FALSE

Global variable TRUE if error available in error stack.

Definition at line 124 of file ethercatmain.c.

ethercatmain.c File Reference

Data Structures

Defines

Typedefs

Functions

Variables

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation

Variable Documentation