Methods of an EtherCAT datagram. More...

Functions
void	ec_datagram_init (ec_datagram_t *datagram)
	Constructor. More...

void	ec_datagram_clear (ec_datagram_t *datagram)
	Destructor. More...

void	ec_datagram_unqueue (ec_datagram_t *datagram)
	Unqueue datagram. More...

int	ec_datagram_prealloc (ec_datagram_t *datagram, size_t size)
	Allocates internal payload memory. More...

void	ec_datagram_zero (ec_datagram_t *datagram)
	Fills the datagram payload memory with zeros. More...

int	ec_datagram_repeat (ec_datagram_t datagram, const ec_datagram_t source)
	Copies a previously constructed datagram for repeated send. More...

int	ec_datagram_aprd (ec_datagram_t *datagram, uint16_t ring_position, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT APRD datagram. More...

int	ec_datagram_apwr (ec_datagram_t *datagram, uint16_t ring_position, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT APWR datagram. More...

int	ec_datagram_aprw (ec_datagram_t *datagram, uint16_t ring_position, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT APRW datagram. More...

int	ec_datagram_armw (ec_datagram_t *datagram, uint16_t ring_position, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT ARMW datagram. More...

int	ec_datagram_fprd (ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT FPRD datagram. More...

int	ec_datagram_fpwr (ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT FPWR datagram. More...

int	ec_datagram_fprw (ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT FPRW datagram. More...

int	ec_datagram_frmw (ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT FRMW datagram. More...

int	ec_datagram_brd (ec_datagram_t *datagram, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT BRD datagram. More...

int	ec_datagram_bwr (ec_datagram_t *datagram, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT BWR datagram. More...

int	ec_datagram_brw (ec_datagram_t *datagram, uint16_t mem_address, size_t data_size)
	Initializes an EtherCAT BRW datagram. More...

int	ec_datagram_lrd (ec_datagram_t *datagram, uint32_t offset, size_t data_size)
	Initializes an EtherCAT LRD datagram. More...

int	ec_datagram_lwr (ec_datagram_t *datagram, uint32_t offset, size_t data_size)
	Initializes an EtherCAT LWR datagram. More...

int	ec_datagram_lrw (ec_datagram_t *datagram, uint32_t offset, size_t data_size)
	Initializes an EtherCAT LRW datagram. More...

int	ec_datagram_lrd_ext (ec_datagram_t datagram, uint32_t offset, size_t data_size, uint8_t external_memory)
	Initializes an EtherCAT LRD datagram with external memory. More...

int	ec_datagram_lwr_ext (ec_datagram_t datagram, uint32_t offset, size_t data_size, uint8_t external_memory)
	Initializes an EtherCAT LWR datagram with external memory. More...

int	ec_datagram_lrw_ext (ec_datagram_t datagram, uint32_t offset, size_t data_size, uint8_t external_memory)
	Initializes an EtherCAT LRW datagram with external memory. More...

void	ec_datagram_print_state (const ec_datagram_t *datagram)
	Prints the state of a datagram. More...

void	ec_datagram_print_wc_error (const ec_datagram_t *datagram)
	Evaluates the working counter of a single-cast datagram. More...

void	ec_datagram_output_stats (ec_datagram_t *datagram)
	Outputs datagram statistics at most every second.

const char *	ec_datagram_type_string (const ec_datagram_t *datagram)
	Returns a string describing the datagram type. More...

void	ec_mbox_data_init (ec_mbox_data_t *mbox_data)
	Initialize mailbox response data. More...

void	ec_mbox_data_clear (ec_mbox_data_t *mbox_data)
	Free internal memory for mailbox response data. More...

int	ec_mbox_data_prealloc (ec_mbox_data_t *mbox_data, size_t size)
	Allocates internal memory for mailbox response data. More...

void	ec_mbox_prot_data_prealloc (ec_slave_t *slave, uint16_t protocols, size_t size)
	Allocates internal memory for mailbox response data for all slave supported mailbox protocols . More...

Variables
static const char *	type_strings []
	Array of datagram type strings used in ec_datagram_type_string(). More...

Detailed Description

Methods of an EtherCAT datagram.

Definition in file datagram.c.

Function Documentation

◆ ec_datagram_init()

void ec_datagram_init ( ec_datagram_t * datagram )

Constructor.

Parameters

datagram EtherCAT datagram.

Definition at line 88 of file datagram.c.

◆ ec_datagram_clear()

void ec_datagram_clear ( ec_datagram_t * datagram )

Destructor.

Parameters

datagram EtherCAT datagram.

Definition at line 119 of file datagram.c.

◆ ec_datagram_unqueue()

void ec_datagram_unqueue ( ec_datagram_t * datagram )

Unqueue datagram.

Parameters

datagram EtherCAT datagram.

Definition at line 133 of file datagram.c.

◆ ec_datagram_prealloc()

int ec_datagram_prealloc	(	ec_datagram_t *	datagram,
		size_t	size
	)

Allocates internal payload memory.

If the allocated memory is already larger than requested, nothing ist done.

Attention: If external payload memory has been provided, no range checking is done!

Returns: 0 in case of success, otherwise -ENOMEM.

Parameters

datagram	EtherCAT datagram.
size	New payload size in bytes.

Definition at line 151 of file datagram.c.

◆ ec_datagram_zero()

void ec_datagram_zero ( ec_datagram_t * datagram )

Fills the datagram payload memory with zeros.

Parameters

datagram EtherCAT datagram.

Definition at line 179 of file datagram.c.

◆ ec_datagram_repeat()

int ec_datagram_repeat	(	ec_datagram_t *	datagram,
		const ec_datagram_t *	source
	)

Copies a previously constructed datagram for repeated send.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram to update.
source	EtherCAT datagram to copy.

Definition at line 190 of file datagram.c.

◆ ec_datagram_aprd()

int ec_datagram_aprd	(	ec_datagram_t *	datagram,
		uint16_t	ring_position,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT APRD datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
ring_position	Auto-increment address.
mem_address	Physical memory address.
data_size	Number of bytes to read.

Definition at line 211 of file datagram.c.

◆ ec_datagram_apwr()

int ec_datagram_apwr	(	ec_datagram_t *	datagram,
		uint16_t	ring_position,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT APWR datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
ring_position	Auto-increment address.
mem_address	Physical memory address.
data_size	Number of bytes to write.

Definition at line 232 of file datagram.c.

◆ ec_datagram_aprw()

int ec_datagram_aprw	(	ec_datagram_t *	datagram,
		uint16_t	ring_position,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT APRW datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
ring_position	Auto-increment address.
mem_address	Physical memory address.
data_size	Number of bytes to write.

Definition at line 253 of file datagram.c.

◆ ec_datagram_armw()

int ec_datagram_armw	(	ec_datagram_t *	datagram,
		uint16_t	ring_position,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT ARMW datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
ring_position	Auto-increment address.
mem_address	Physical memory address.
data_size	Number of bytes to read.

Definition at line 274 of file datagram.c.

◆ ec_datagram_fprd()

int ec_datagram_fprd	(	ec_datagram_t *	datagram,
		uint16_t	configured_address,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT FPRD datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
configured_address	Configured station address.
mem_address	Physical memory address.
data_size	Number of bytes to read.

Definition at line 295 of file datagram.c.

◆ ec_datagram_fpwr()

int ec_datagram_fpwr	(	ec_datagram_t *	datagram,
		uint16_t	configured_address,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT FPWR datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
configured_address	Configured station address.
mem_address	Physical memory address.
data_size	Number of bytes to write.

Definition at line 320 of file datagram.c.

◆ ec_datagram_fprw()

int ec_datagram_fprw	(	ec_datagram_t *	datagram,
		uint16_t	configured_address,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT FPRW datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
configured_address	Configured station address.
mem_address	Physical memory address.
data_size	Number of bytes to write.

Definition at line 345 of file datagram.c.

◆ ec_datagram_frmw()

int ec_datagram_frmw	(	ec_datagram_t *	datagram,
		uint16_t	configured_address,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT FRMW datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
configured_address	Configured station address.
mem_address	Physical memory address.
data_size	Number of bytes to write.

Definition at line 370 of file datagram.c.

◆ ec_datagram_brd()

int ec_datagram_brd	(	ec_datagram_t *	datagram,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT BRD datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
mem_address	Physical memory address.
data_size	Number of bytes to read.

Definition at line 395 of file datagram.c.

◆ ec_datagram_bwr()

int ec_datagram_bwr	(	ec_datagram_t *	datagram,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT BWR datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
mem_address	Physical memory address.
data_size	Number of bytes to write.

Definition at line 415 of file datagram.c.

◆ ec_datagram_brw()

int ec_datagram_brw	(	ec_datagram_t *	datagram,
		uint16_t	mem_address,
		size_t	data_size
	)

Initializes an EtherCAT BRW datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
mem_address	Physical memory address.
data_size	Number of bytes to write.

Definition at line 435 of file datagram.c.

◆ ec_datagram_lrd()

int ec_datagram_lrd	(	ec_datagram_t *	datagram,
		uint32_t	offset,
		size_t	data_size
	)

Initializes an EtherCAT LRD datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
offset	Logical address.
data_size	Number of bytes to read/write.

Definition at line 455 of file datagram.c.

◆ ec_datagram_lwr()

int ec_datagram_lwr	(	ec_datagram_t *	datagram,
		uint32_t	offset,
		size_t	data_size
	)

Initializes an EtherCAT LWR datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
offset	Logical address.
data_size	Number of bytes to read/write.

Definition at line 474 of file datagram.c.

◆ ec_datagram_lrw()

int ec_datagram_lrw	(	ec_datagram_t *	datagram,
		uint32_t	offset,
		size_t	data_size
	)

Initializes an EtherCAT LRW datagram.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
offset	Logical address.
data_size	Number of bytes to read/write.

Definition at line 493 of file datagram.c.

◆ ec_datagram_lrd_ext()

int ec_datagram_lrd_ext	(	ec_datagram_t *	datagram,
		uint32_t	offset,
		size_t	data_size,
		uint8_t *	external_memory
	)

Initializes an EtherCAT LRD datagram with external memory.

Attention: It is assumed, that the external memory is at least data_size bytes large.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
offset	Logical address.
data_size	Number of bytes to read/write.
external_memory	Pointer to the memory to use.

Definition at line 515 of file datagram.c.

◆ ec_datagram_lwr_ext()

int ec_datagram_lwr_ext	(	ec_datagram_t *	datagram,
		uint32_t	offset,
		size_t	data_size,
		uint8_t *	external_memory
	)

Initializes an EtherCAT LWR datagram with external memory.

Attention: It is assumed, that the external memory is at least data_size bytes large.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
offset	Logical address.
data_size	Number of bytes to read/write.
external_memory	Pointer to the memory to use.

Definition at line 540 of file datagram.c.

◆ ec_datagram_lrw_ext()

int ec_datagram_lrw_ext	(	ec_datagram_t *	datagram,
		uint32_t	offset,
		size_t	data_size,
		uint8_t *	external_memory
	)

Initializes an EtherCAT LRW datagram with external memory.

Attention: It is assumed, that the external memory is at least data_size bytes large.

Returns: Return value of ec_datagram_prealloc().

Parameters

datagram	EtherCAT datagram.
offset	Logical address.
data_size	Number of bytes to read/write.
external_memory	Pointer to the memory to use.

Definition at line 565 of file datagram.c.

◆ ec_datagram_print_state()

void ec_datagram_print_state ( const ec_datagram_t * datagram )

Prints the state of a datagram.

Outputs a text message.

Parameters

datagram EtherCAT datagram

Definition at line 587 of file datagram.c.

◆ ec_datagram_print_wc_error()

void ec_datagram_print_wc_error ( const ec_datagram_t * datagram )

Evaluates the working counter of a single-cast datagram.

Outputs an error message.

Parameters

datagram EtherCAT datagram

Definition at line 627 of file datagram.c.

◆ ec_datagram_type_string()

const char* ec_datagram_type_string ( const ec_datagram_t * datagram )

Returns a string describing the datagram type.

Returns: Pointer on a static memory containing the requested string.

Parameters

datagram EtherCAT datagram.

Definition at line 667 of file datagram.c.

◆ ec_mbox_data_init()

void ec_mbox_data_init ( ec_mbox_data_t * mbox_data )

Initialize mailbox response data.

Parameters

mbox_data Mailbox response data.

Definition at line 679 of file datagram.c.

◆ ec_mbox_data_clear()

void ec_mbox_data_clear ( ec_mbox_data_t * mbox_data )

Free internal memory for mailbox response data.

Parameters

mbox_data Mailbox response data.

Definition at line 694 of file datagram.c.

◆ ec_mbox_data_prealloc()

int ec_mbox_data_prealloc	(	ec_mbox_data_t *	mbox_data,
		size_t	size
	)

Allocates internal memory for mailbox response data.

Returns: 0 in case of success, otherwise -ENOMEM.

Parameters

mbox_data	Mailbox response data.
size	Mailbox size in bytes.

Definition at line 712 of file datagram.c.

◆ ec_mbox_prot_data_prealloc()

void ec_mbox_prot_data_prealloc	(	ec_slave_t *	slave,
		uint16_t	protocols,
		size_t	size
	)

Allocates internal memory for mailbox response data for all slave supported mailbox protocols .

Parameters

slave	EtherCAT slave.
protocols	Supported protocols.
size	Mailbox size in bytes.

Definition at line 738 of file datagram.c.

Variable Documentation

◆ type_strings

const char* type_strings[]

static

Initial value:

= {
    "?",
    "APRD",
    "APWR",
    "APRW",
    "FPRD",
    "FPWR",
    "FPRW",
    "BRD",
    "BWR",
    "BRW",
    "LRD",
    "LWR",
    "LRW",
    "ARMW",
    "FRMW"
}

Array of datagram type strings used in ec_datagram_type_string().

Attention: This is indexed by ec_datagram_type_t.

Definition at line 66 of file datagram.c.

Functions

Variables

Detailed Description

Function Documentation

◆ ec_datagram_init()

◆ ec_datagram_clear()

◆ ec_datagram_unqueue()

◆ ec_datagram_prealloc()

◆ ec_datagram_zero()

◆ ec_datagram_repeat()

◆ ec_datagram_aprd()

◆ ec_datagram_apwr()

◆ ec_datagram_aprw()

◆ ec_datagram_armw()

◆ ec_datagram_fprd()

◆ ec_datagram_fpwr()

◆ ec_datagram_fprw()

◆ ec_datagram_frmw()

◆ ec_datagram_brd()

◆ ec_datagram_bwr()

◆ ec_datagram_brw()

◆ ec_datagram_lrd()

◆ ec_datagram_lwr()

◆ ec_datagram_lrw()

◆ ec_datagram_lrd_ext()

◆ ec_datagram_lwr_ext()

◆ ec_datagram_lrw_ext()

◆ ec_datagram_print_state()

◆ ec_datagram_print_wc_error()

◆ ec_datagram_type_string()

◆ ec_mbox_data_init()

◆ ec_mbox_data_clear()

◆ ec_mbox_data_prealloc()

◆ ec_mbox_prot_data_prealloc()

Variable Documentation

◆ type_strings