ethercatbase.c File Reference

Base EtherCAT functions. More...

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

Functions
static void	ecx_writedatagramdata (void *datagramdata, ec_cmdtype com, uint16 length, const void *data)
int	ecx_setupdatagram (ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
int	ecx_adddatagram (ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
int	ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ecx_BRD (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ecx_APRD (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ecx_ARMW (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ecx_FRMW (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
uint16	ecx_APRDw (ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
int	ecx_FPRD (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
uint16	ecx_FPRDw (ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
int	ecx_APWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ecx_APWRw (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
int	ecx_FPWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ecx_FPWRw (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
int	ecx_LRW (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
int	ecx_LRD (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
int	ecx_LWR (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
int	ecx_LRWDC (ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
int	ec_setupdatagram (void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
int	ec_adddatagram (void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
int	ec_BWR (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_BRD (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_APRD (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_ARMW (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_FRMW (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
uint16	ec_APRDw (uint16 ADP, uint16 ADO, int timeout)
int	ec_FPRD (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
uint16	ec_FPRDw (uint16 ADP, uint16 ADO, int timeout)
int	ec_APWR (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_APWRw (uint16 ADP, uint16 ADO, uint16 data, int timeout)
int	ec_FPWR (uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
int	ec_FPWRw (uint16 ADP, uint16 ADO, uint16 data, int timeout)
int	ec_LRW (uint32 LogAdr, uint16 length, void *data, int timeout)
int	ec_LRD (uint32 LogAdr, uint16 length, void *data, int timeout)
int	ec_LWR (uint32 LogAdr, uint16 length, void *data, int timeout)
int	ec_LRWDC (uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)

Detailed Description

Base EtherCAT functions.

Setting up a datagram in an ethernet frame. EtherCAT datagram primitives, broadcast, auto increment, configured and logical addressed data transfers. All base transfers are blocking, so wait for the frame to be returned to the master or timeout. If this is not acceptable build your own datagrams and use the functions from nicdrv.c.

Function Documentation

ec_adddatagram()

int ec_adddatagram	(	void *	frame,
		uint8	com,
		uint8	idx,
		boolean	more,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data
	)

ec_APRD()

int ec_APRD	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_APRDw()

uint16 ec_APRDw	(	uint16	ADP,
		uint16	ADO,
		int	timeout
	)

ec_APWR()

int ec_APWR	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_APWRw()

int ec_APWRw	(	uint16	ADP,
		uint16	ADO,
		uint16	data,
		int	timeout
	)

ec_ARMW()

int ec_ARMW	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_BRD()

int ec_BRD	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_BWR()

int ec_BWR	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_FPRD()

int ec_FPRD	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_FPRDw()

uint16 ec_FPRDw	(	uint16	ADP,
		uint16	ADO,
		int	timeout
	)

ec_FPWR()

int ec_FPWR	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_FPWRw()

int ec_FPWRw	(	uint16	ADP,
		uint16	ADO,
		uint16	data,
		int	timeout
	)

ec_FRMW()

int ec_FRMW	(	uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_LRD()

int ec_LRD	(	uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_LRW()

int ec_LRW	(	uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_LRWDC()

int ec_LRWDC	(	uint32	LogAdr,
		uint16	length,
		void *	data,
		uint16	DCrs,
		int64 *	DCtime,
		int	timeout
	)

ec_LWR()

int ec_LWR	(	uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

ec_setupdatagram()

int ec_setupdatagram	(	void *	frame,
		uint8	com,
		uint8	idx,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data
	)

ecx_adddatagram()

int ecx_adddatagram	(	ecx_portt *	port,
		void *	frame,
		uint8	com,
		uint8	idx,
		boolean	more,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data
	)

Add EtherCAT datagram to a standard ethernet frame with existing datagram(s).

Parameters

[in]	port	= port context struct
[out]	frame	= framebuffer
[in]	com	= command
[in]	idx	= index used for TX and RX buffers
[in]	more	= TRUE if still more datagrams to follow
[in]	ADP	= Address Position
[in]	ADO	= Address Offset
[in]	length	= length of datagram excluding EtherCAT header
[in]	data	= databuffer to be copied in datagram

Returns

Offset to data in rx frame, usefull to retrieve data after RX.

ecx_APRD()

int ecx_APRD	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

APRD "auto increment address read" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, each slave ++, slave that has 0 executes
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[out]	data	= databuffer to put slave data in
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_APRDw()

uint16 ecx_APRDw	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		int	timeout
	)

APRDw "auto increment address read" word return primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, each slave ++, slave that has 0 reads.
[in]	ADO	= Address Offset, slave memory address
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

word data from slave

ecx_APWR()

int ecx_APWR	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

APWR "auto increment address write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, each slave ++, slave that has 0 writes.
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[in]	data	= databuffer to write to slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_APWRw()

int ecx_APWRw	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	data,
		int	timeout
	)

APWRw "auto increment address write" word primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, each slave ++, slave that has 0 writes.
[in]	ADO	= Address Offset, slave memory address
[in]	data	= word data to write to slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_ARMW()

int ecx_ARMW	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

APRMW "auto increment address read, multiple write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, each slave ++, slave that has 0 reads, following slaves write.
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[out]	data	= databuffer to put slave data in
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_BRD()

int ecx_BRD	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

BRD "broadcast read" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, normally 0
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[out]	data	= databuffer to put slave data in
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_BWR()

int ecx_BWR	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

BRW "broadcast write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, normally 0
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[in]	data	= databuffer to be written to slaves
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_FPRD()

int ecx_FPRD	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

FPRD "configured address read" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, slave that has address reads.
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[out]	data	= databuffer to put slave data in
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_FPRDw()

uint16 ecx_FPRDw	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		int	timeout
	)

FPRDw "configured address read" word return primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, slave that has address reads.
[in]	ADO	= Address Offset, slave memory address
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

word data from slave

ecx_FPWR()

int ecx_FPWR	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

FPWR "configured address write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, slave that has address writes.
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[in]	data	= databuffer to write to slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_FPWRw()

int ecx_FPWRw	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	data,
		int	timeout
	)

FPWR "configured address write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, slave that has address writes.
[in]	ADO	= Address Offset, slave memory address
[in]	data	= word to write to slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_FRMW()

int ecx_FRMW	(	ecx_portt *	port,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data,
		int	timeout
	)

FPRMW "configured address read, multiple write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	ADP	= Address Position, slave that has address reads, following slaves write.
[in]	ADO	= Address Offset, slave memory address
[in]	length	= length of databuffer
[out]	data	= databuffer to put slave data in
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_LRD()

int ecx_LRD	(	ecx_portt *	port,
		uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

LRD "logical memory read" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	LogAdr	= Logical memory address
[in]	length	= length of bytes to read from slave.
[out]	data	= databuffer to read from slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_LRW()

int ecx_LRW	(	ecx_portt *	port,
		uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

LRW "logical memory read / write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	LogAdr	= Logical memory address
[in]	length	= length of databuffer
[in,out]	data	= databuffer to write to and read from slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_LRWDC()

int ecx_LRWDC	(	ecx_portt *	port,
		uint32	LogAdr,
		uint16	length,
		void *	data,
		uint16	DCrs,
		int64 *	DCtime,
		int	timeout
	)

LRW "logical memory read / write" primitive plus Clock Distribution. Blocking. Frame consists of two datagrams, one LRW and one FPRMW.

Parameters

[in]	port	= port context struct
[in]	LogAdr	= Logical memory address
[in]	length	= length of databuffer
[in,out]	data	= databuffer to write to and read from slave.
[in]	DCrs	= Distributed Clock reference slave address.
[out]	DCtime	= DC time read from reference slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_LWR()

int ecx_LWR	(	ecx_portt *	port,
		uint32	LogAdr,
		uint16	length,
		void *	data,
		int	timeout
	)

LWR "logical memory write" primitive. Blocking.

Parameters

[in]	port	= port context struct
[in]	LogAdr	= Logical memory address
[in]	length	= length of databuffer
[in]	data	= databuffer to write to slave.
[in]	timeout	= timeout in us, standard is EC_TIMEOUTRET

Returns

Workcounter or EC_NOFRAME

ecx_setupdatagram()

int ecx_setupdatagram	(	ecx_portt *	port,
		void *	frame,
		uint8	com,
		uint8	idx,
		uint16	ADP,
		uint16	ADO,
		uint16	length,
		void *	data
	)

Generate and set EtherCAT datagram in a standard ethernet frame.

Parameters

[in]	port	= port context struct
[out]	frame	= framebuffer
[in]	com	= command
[in]	idx	= index used for TX and RX buffers
[in]	ADP	= Address Position
[in]	ADO	= Address Offset
[in]	length	= length of datagram excluding EtherCAT header
[in]	data	= databuffer to be copied in datagram

Returns

always 0

ecx_writedatagramdata()

static void ecx_writedatagramdata ( void *  datagramdata, ec_cmdtype  com, uint16  length, const void *  data  )

static

Write data to EtherCAT datagram.

Parameters

[out]	datagramdata	= data part of datagram
[in]	com	= command
[in]	length	= length of databuffer
[in]	data	= databuffer to be copied into datagram