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SOEM
v1.3.0
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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) |
Headerfile for ethercatmain.c.
| #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 uint8 ec_mbxbuft[EC_MAXMBX+1] |
mailbox buffer array
| void ec_clearmbx | ( | ec_mbxbuft * | Mbx | ) |
Clear mailbox buffer.
| [out] | Mbx | = Mailbox buffer to clear |
| ec_adaptert* ec_find_adapters | ( | void | ) |
Create list over available network adapters.
| void ec_free_adapters | ( | ec_adaptert * | adapter | ) |
Free dynamically allocated list over available network adapters.
| [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.
| [in] | cnt | = Mailbox counter value [0..7] |
| void ecx_close | ( | ecx_contextt * | context | ) |
Close lib.
| [in] | context | = context struct |
| int ecx_eeprom2master | ( | ecx_contextt * | context, |
| uint16 | slave | ||
| ) |
Set eeprom control to master. Only if set to PDI.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| int ecx_eeprom2pdi | ( | ecx_contextt * | context, |
| uint16 | slave | ||
| ) |
Set eeprom control to PDI. Only if set to master.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| void ecx_esidump | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| uint8 * | esibuf | ||
| ) |
Dump complete EEPROM data from slave in buffer.
| [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
| [in] | context | = context struct |
| [in] | ifname | = Dev name, f.e. "eth0" |
| int ecx_init_redundant | ( | ecx_contextt * | context, |
| ecx_redportt * | redport, | ||
| char * | ifname, | ||
| char * | if2name | ||
| ) |
Initialise lib in redundant NIC mode
| [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" |
| boolean ecx_iserror | ( | ecx_contextt * | context | ) |
Check if error list has entries.
| [in] | context | = context struct |
| int ecx_mbxempty | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| int | timeout | ||
| ) |
Check if IN mailbox of slave is empty.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| [in] | timeout | = Timeout in us |
| 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.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| [out] | mbx | = Mailbox data |
| [in] | timeout | = Timeout in us |
| int ecx_mbxsend | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| ec_mbxbuft * | mbx, | ||
| int | timeout | ||
| ) |
Write IN mailbox to slave.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| [out] | mbx | = Mailbox data |
| [in] | timeout | = Timeout in us |
| void ecx_packeterror | ( | ecx_contextt * | context, |
| uint16 | Slave, | ||
| uint16 | Index, | ||
| uint8 | SubIdx, | ||
| uint16 | ErrorCode | ||
| ) |
Report packet error
| [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.
| [in] | context | = context struct |
| [out] | Ec | = Struct describing the error. |
| void ecx_pusherror | ( | ecx_contextt * | context, |
| const ec_errort * | Ec | ||
| ) |
Pushes an error on the error list.
| [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.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| [in] | eeproma | = (WORD) Address in the EEPROM |
| [in] | timeout | = Timeout in us. |
| void ecx_readeeprom1 | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| uint16 | eeproma | ||
| ) |
Read EEPROM from slave bypassing cache. Parallel read step 1, make request to slave.
| [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.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| [in] | timeout | = Timeout in us. |
| uint64 ecx_readeepromAP | ( | ecx_contextt * | context, |
| uint16 | aiadr, | ||
| uint16 | eeproma, | ||
| int | timeout | ||
| ) |
Read EEPROM from slave bypassing cache. APRD method.
| [in] | context | = context struct |
| [in] | aiadr | = auto increment address of slave |
| [in] | eeproma | = (WORD) Address in the EEPROM |
| [in] | timeout | = Timeout in us. |
| uint64 ecx_readeepromFP | ( | ecx_contextt * | context, |
| uint16 | configadr, | ||
| uint16 | eeproma, | ||
| int | timeout | ||
| ) |
Read EEPROM from slave bypassing cache. FPRD method.
| [in] | context | = context struct |
| [in] | configadr | = configured address of slave |
| [in] | eeproma | = (WORD) Address in the EEPROM |
| [in] | timeout | = Timeout in us. |
| int ecx_readstate | ( | ecx_contextt * | context | ) |
Read all slave states in ec_slave.
| [in] | context | = context struct |
| 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.
| [in] | context | = context struct |
| [in] | group | = group number |
| [in] | timeout | = Timeout in us. |
| 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.
| [in] | context | = context struct |
| [in] | group | = group number |
| int16 ecx_siifind | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| uint16 | cat | ||
| ) |
Find SII section header in slave EEPROM.
| [in] | context | = context struct |
| [in] | slave | = slave number |
| [in] | cat | = section category |
| uint16 ecx_siiFMMU | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| ec_eepromFMMUt * | FMMU | ||
| ) |
Get FMMU data from SII FMMU section in slave EEPROM.
| [in] | context | = context struct |
| [in] | slave | = slave number |
| [out] | FMMU | = FMMU struct from SII, max. 4 FMMU's |
| 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.
| [in] | context | = context struct |
| [in] | slave | = slave number |
| [in] | address | = eeprom address in bytes (slave uses words) |
| int ecx_siiPDO | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| ec_eepromPDOt * | PDO, | ||
| uint8 | t | ||
| ) |
Get PDO data from SII PDO section in slave EEPROM.
| [in] | context | = context struct |
| [in] | slave | = slave number |
| [out] | PDO | = PDO struct from SII |
| [in] | t | = 0=RXPDO 1=TXPDO |
| uint16 ecx_siiSM | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| ec_eepromSMt * | SM | ||
| ) |
Get SM data from SII SM section in slave EEPROM.
| [in] | context | = context struct |
| [in] | slave | = slave number |
| [out] | SM | = first SM struct from SII |
| uint16 ecx_siiSMnext | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| ec_eepromSMt * | SM, | ||
| uint16 | n | ||
| ) |
Get next SM data from SII SM section in slave EEPROM.
| [in] | context | = context struct |
| [in] | slave | = slave number |
| [out] | SM | = first SM struct from SII |
| [in] | n | = SM number |
| void ecx_siistring | ( | ecx_contextt * | context, |
| char * | str, | ||
| uint16 | slave, | ||
| uint16 | Sn | ||
| ) |
Get string from SII string section in slave EEPROM.
| [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.
| [in] | context | = context struct |
| [in] | slave | = Slave number, 0 = all slaves |
| [in] | reqstate | = Requested state |
| [in] | timeout | = Timout value in us |
| int ecx_writeeeprom | ( | ecx_contextt * | context, |
| uint16 | slave, | ||
| uint16 | eeproma, | ||
| uint16 | data, | ||
| int | timeout | ||
| ) |
Write EEPROM to slave bypassing cache.
| [in] | context | = context struct |
| [in] | slave | = Slave number |
| [in] | eeproma | = (WORD) Address in the EEPROM |
| [in] | data | = 16bit data |
| [in] | timeout | = Timeout in us. |
| int ecx_writeeepromAP | ( | ecx_contextt * | context, |
| uint16 | aiadr, | ||
| uint16 | eeproma, | ||
| uint16 | data, | ||
| int | timeout | ||
| ) |
Write EEPROM to slave bypassing cache. APWR method.
| [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. |
| int ecx_writeeepromFP | ( | ecx_contextt * | context, |
| uint16 | configadr, | ||
| uint16 | eeproma, | ||
| uint16 | data, | ||
| int | timeout | ||
| ) |
Write EEPROM to slave bypassing cache. FPWR method.
| [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. |
| 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.
| [in] | context | = context struct |
| [in] | slave | = Slave number, 0 = master |
1.8.3.1