ethercatbase.h File Reference

Headerfile for ethercatbase.c. More...

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

Detailed Description

Headerfile for ethercatbase.c.

Function Documentation

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