EtherCAT datagram structure. More...

Data Structures
struct	ec_datagram_t
	EtherCAT datagram. More...

Enumerations
enum	ec_datagram_type_t { EC_DATAGRAM_NONE = 0x00, EC_DATAGRAM_APRD = 0x01, EC_DATAGRAM_APWR = 0x02, EC_DATAGRAM_APRW = 0x03, EC_DATAGRAM_FPRD = 0x04, EC_DATAGRAM_FPWR = 0x05, EC_DATAGRAM_FPRW = 0x06, EC_DATAGRAM_BRD = 0x07, EC_DATAGRAM_BWR = 0x08, EC_DATAGRAM_BRW = 0x09, EC_DATAGRAM_LRD = 0x0A, EC_DATAGRAM_LWR = 0x0B, EC_DATAGRAM_LRW = 0x0C, EC_DATAGRAM_ARMW = 0x0D, EC_DATAGRAM_FRMW = 0x0E }
	EtherCAT datagram type. More...

enum	ec_datagram_state_t { EC_DATAGRAM_INIT, EC_DATAGRAM_QUEUED, EC_DATAGRAM_SENT, EC_DATAGRAM_RECEIVED, EC_DATAGRAM_TIMED_OUT, EC_DATAGRAM_ERROR }
	EtherCAT datagram state. More...

Functions
void	ec_datagram_init (ec_datagram_t *)
	Constructor.

void	ec_datagram_clear (ec_datagram_t *)
	Destructor.

void	ec_datagram_unqueue (ec_datagram_t *)
	Unqueue datagram.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Detailed Description

EtherCAT datagram structure.

Definition in file datagram.h.

Enumeration Type Documentation

◆ ec_datagram_type_t

enum ec_datagram_type_t

EtherCAT datagram type.

Enumerator
EC_DATAGRAM_NONE	Dummy.
EC_DATAGRAM_APRD	Auto Increment Physical Read.
EC_DATAGRAM_APWR	Auto Increment Physical Write.
EC_DATAGRAM_APRW	Auto Increment Physical ReadWrite.
EC_DATAGRAM_FPRD	Configured Address Physical Read.
EC_DATAGRAM_FPWR	Configured Address Physical Write.
EC_DATAGRAM_FPRW	Configured Address Physical ReadWrite.
EC_DATAGRAM_BRD	Broadcast Read.
EC_DATAGRAM_BWR	Broadcast Write.
EC_DATAGRAM_BRW	Broadcast ReadWrite.
EC_DATAGRAM_LRD	Logical Read.
EC_DATAGRAM_LWR	Logical Write.
EC_DATAGRAM_LRW	Logical ReadWrite.
EC_DATAGRAM_ARMW	Auto Increment Physical Read Multiple Write.
EC_DATAGRAM_FRMW	Configured Address Physical Read Multiple Write.

Definition at line 42 of file datagram.h.

◆ ec_datagram_state_t

enum ec_datagram_state_t

EtherCAT datagram state.

Enumerator
EC_DATAGRAM_INIT	Initial state of a new datagram.
EC_DATAGRAM_QUEUED	Queued for sending.
EC_DATAGRAM_SENT	Sent (still in the queue).
EC_DATAGRAM_RECEIVED	Received (dequeued).
EC_DATAGRAM_TIMED_OUT	Timed out (dequeued).
EC_DATAGRAM_ERROR	Error while sending/receiving (dequeued).

Definition at line 66 of file datagram.h.

Function Documentation

◆ 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 142 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 181 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 202 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 223 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 244 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 265 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 290 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 315 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 340 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 365 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 385 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 405 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 425 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 444 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 463 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 485 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 510 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 535 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 557 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 594 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 637 of file datagram.c.

Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ ec_datagram_type_t

◆ ec_datagram_state_t

Function Documentation

◆ ec_datagram_prealloc()

◆ 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()