mailbox.h File Reference

Mailbox functionality. More...

Go to the source code of this file.

Data Structures
struct	ec_mbox_data_t
	EtherCAT mailbox response data. More...

Macros
#define	EC_MBOX_HEADER_SIZE   6
	Size of the mailbox header.

Enumerations
enum	{   EC_MBOX_TYPE_EOE = 0x02, EC_MBOX_TYPE_COE = 0x03, EC_MBOX_TYPE_FOE = 0x04, EC_MBOX_TYPE_SOE = 0x05,   EC_MBOX_TYPE_VOE = 0x0f }
	Mailbox types. More...

Functions
void	ec_mbox_data_init (ec_mbox_data_t *)
	Initialize mailbox response data.
void	ec_mbox_data_clear (ec_mbox_data_t *)
	Free internal memory for mailbox response data.
void	ec_slave_mbox_prealloc (ec_slave_t *)
	Allocates the mailbox response buffers of a slave. More...
uint8_t *	ec_slave_mbox_prepare_send (const ec_slave_t *, ec_datagram_t *, uint8_t, size_t)
	Prepares a mailbox-send datagram. More...
int	ec_slave_mbox_prepare_check (const ec_slave_t *, ec_datagram_t *)
	Prepares a datagram for checking the mailbox state. More...
int	ec_slave_mbox_check (const ec_datagram_t *)
	Processes a mailbox state checking datagram. More...
int	ec_slave_mbox_prepare_fetch (const ec_slave_t *, ec_datagram_t *)
	Prepares a datagram to fetch mailbox data. More...
void	ec_slave_mbox_take_error (ec_mbox_data_t *, const ec_datagram_t *)
	Takes over a mailbox error response from a mailbox fetch datagram. More...
uint8_t *	ec_slave_mbox_fetch (const ec_slave_t *, ec_mbox_data_t *, uint8_t *, size_t *)
	Processes received mailbox data. More...

Detailed Description

Mailbox functionality.

Definition in file mailbox.h.

Enumeration Type Documentation

anonymous enum

anonymous enum

Mailbox types.

These are used in the 'Type' field of the mailbox header.

Definition at line 46 of file mailbox.h.

Function Documentation

ec_slave_mbox_prealloc()

void ec_slave_mbox_prealloc

(

ec_slave_t *

slave

)

Allocates the mailbox response buffers of a slave.

The buffers are allocated for the mailbox protocols supported by the slave. They are allocated only once and freed with the slave, because the receive path may write to them at any time. So they are dimensioned for the largest TX mailbox, that can be configured during the lifetime of the slave object (standard and bootstrap mailbox, sync manager configuration from the SII and the currently configured mailbox).

Parameters

slave

EtherCAT slave.

Definition at line 100 of file mailbox.c.

ec_slave_mbox_prepare_send()

uint8_t* ec_slave_mbox_prepare_send	(	const ec_slave_t *	slave,
		ec_datagram_t *	datagram,
		uint8_t	type,
		size_t	size
	)

Prepares a mailbox-send datagram.

Returns

Pointer to mailbox datagram data, or ERR_PTR() code.

Parameters

slave	slave
datagram	datagram
type	mailbox protocol
size	size of the data

Definition at line 143 of file mailbox.c.

ec_slave_mbox_prepare_check()

int ec_slave_mbox_prepare_check	(	const ec_slave_t *	slave,
		ec_datagram_t *	datagram
	)

Prepares a datagram for checking the mailbox state.

Todo:

Determine sync manager used for receive mailbox

Returns

0 in case of success, else < 0

Parameters

slave	slave
datagram	datagram

Definition at line 188 of file mailbox.c.

ec_slave_mbox_check()

int ec_slave_mbox_check

(

const ec_datagram_t *

datagram

)

Processes a mailbox state checking datagram.

Returns

0 in case of success, else < 0

Parameters

datagram

datagram

Definition at line 207 of file mailbox.c.

ec_slave_mbox_prepare_fetch()

int ec_slave_mbox_prepare_fetch	(	const ec_slave_t *	slave,
		ec_datagram_t *	datagram
	)

Prepares a datagram to fetch mailbox data.

Returns

0 in case of success, else < 0

Parameters

slave	slave
datagram	datagram

Definition at line 219 of file mailbox.c.

ec_slave_mbox_take_error()

void ec_slave_mbox_take_error	(	ec_mbox_data_t *	mbox_data,
		const ec_datagram_t *	datagram
	)

Takes over a mailbox error response from a mailbox fetch datagram.

Mailbox error responses (type 0x00) can not be assigned to a protocol, so the mailbox dispatcher leaves them in the memory of the fetch datagram. This function stores such a response in the protocol buffer of the fetching state machine, so that ec_slave_mbox_fetch() reports the error.

The fetch datagram is zeroed in ec_slave_mbox_prepare_fetch(), so the length field is zero, if the response was dispatched to a protocol buffer.

Parameters

mbox_data	protocol buffer of the fetching FSM
datagram	mailbox fetch datagram

Definition at line 246 of file mailbox.c.

ec_slave_mbox_fetch()

uint8_t* ec_slave_mbox_fetch	(	const ec_slave_t *	slave,
		ec_mbox_data_t *	response_data,
		uint8_t *	type,
		size_t *	size
	)

Processes received mailbox data.

The response is consumed, i. e. the response buffer is marked as empty.

Returns

Pointer to the received data, or ERR_PTR() code.

Parameters

slave	slave
response_data	response
type	expected mailbox protocol
size	size of the received data

Definition at line 290 of file mailbox.c.