voe_handler.c File Reference

Vendor specific over EtherCAT protocol handler functions. More...

Go to the source code of this file.

Macros
#define	EC_VOE_HEADER_SIZE   6
	VoE header size.
#define	EC_VOE_RESPONSE_TIMEOUT   500
	VoE response timeout in [ms].

Functions
void	ec_voe_handler_state_write_start (ec_voe_handler_t *voe)
	Start writing VoE data.
void	ec_voe_handler_state_write_response (ec_voe_handler_t *voe)
	Wait for the mailbox response.
void	ec_voe_handler_state_read_start (ec_voe_handler_t *voe)
	Start reading VoE data.
void	ec_voe_handler_state_read_nosync_start (ec_voe_handler_t *voe)
	Start reading VoE data without sending a sync message before. More...
void	ec_voe_handler_state_read_response (ec_voe_handler_t *voe)
	Wait for the VoE read response and process it.
void	ec_voe_handler_state_end (ec_voe_handler_t *voe)
	Successful termination state function.
void	ec_voe_handler_state_error (ec_voe_handler_t *voe)
	Failure termination state function.
int	ec_voe_handler_init (ec_voe_handler_t *voe, ec_slave_config_t *sc, size_t size)
	VoE handler constructor. More...
void	ec_voe_handler_clear (ec_voe_handler_t *voe)
	VoE handler destructor. More...
void	ec_voe_handler_release_mbox_lock (ec_voe_handler_t *voe)
	Releases the mailbox read lock, if the handler holds it. More...
size_t	ec_voe_handler_mem_size (const ec_voe_handler_t *voe)
	Get usable memory size. More...
int	ecrt_voe_handler_send_header (ec_voe_handler_t *voe, uint32_t vendor_id, uint16_t vendor_type)
	Sets the VoE header for future send operations. More...
int	ecrt_voe_handler_received_header (const ec_voe_handler_t *voe, uint32_t *vendor_id, uint16_t *vendor_type)
	Reads the header data of a received VoE message. More...
uint8_t *	ecrt_voe_handler_data (const ec_voe_handler_t *voe)
	Access to the VoE handler's data. More...
size_t	ecrt_voe_handler_data_size (const ec_voe_handler_t *voe)
	Returns the current data size. More...
int	ecrt_voe_handler_read (ec_voe_handler_t *voe)
	Start a VoE read operation. More...
int	ecrt_voe_handler_read_nosync (ec_voe_handler_t *voe)
	Start a VoE read operation without querying the sync manager status. More...
int	ecrt_voe_handler_write (ec_voe_handler_t *voe, size_t size)
	Start a VoE write operation. More...
ec_request_state_t	ecrt_voe_handler_execute (ec_voe_handler_t *voe)
	Execute the handler. More...

Detailed Description

Vendor specific over EtherCAT protocol handler functions.

Definition in file voe_handler.c.

Function Documentation

ec_voe_handler_state_read_nosync_start()

void ec_voe_handler_state_read_nosync_start

(

ec_voe_handler_t *

voe

)

Start reading VoE data without sending a sync message before.

The mailbox is fetched once without checking it before. This might lead to an empty reponse from the client.

Definition at line 338 of file voe_handler.c.

ec_voe_handler_init()

int ec_voe_handler_init	(	ec_voe_handler_t *	voe,
		ec_slave_config_t *	sc,
		size_t	size
	)

VoE handler constructor.

Returns

Return value of ec_datagram_prealloc().

Parameters

voe	VoE handler.
sc	Parent slave configuration.
size	Size of memory to reserve.

Definition at line 61 of file voe_handler.c.

ec_voe_handler_clear()

void ec_voe_handler_clear

(

ec_voe_handler_t *

voe

)

VoE handler destructor.

Parameters

voe	VoE handler.

Definition at line 85 of file voe_handler.c.

ec_voe_handler_release_mbox_lock()

void ec_voe_handler_release_mbox_lock

(

ec_voe_handler_t *

voe

)

Releases the mailbox read lock, if the handler holds it.

The lock is held while a mailbox check or fetch is in progress. This has to be called, before such a read is abandoned, e. g. because a new request is started or the slave configuration is detached.

Parameters

voe	VoE handler.

Definition at line 101 of file voe_handler.c.

ec_voe_handler_mem_size()

size_t ec_voe_handler_mem_size

(

const ec_voe_handler_t *

voe

)

Get usable memory size.

Returns

Memory size.

Parameters

voe	VoE handler.

Definition at line 119 of file voe_handler.c.