datagram.c File Reference

Methods of an EtherCAT datagram. More...

Go to the source code of this file.

Functions

void ec_datagram_init (ec_datagram_t *datagram)
 Constructor.
void ec_datagram_clear (ec_datagram_t *datagram)
 Destructor.
void ec_datagram_unqueue (ec_datagram_t *datagram)
 Unqueue datagram.
int ec_datagram_prealloc (ec_datagram_t *datagram, size_t size)
 Allocates internal payload memory.
void ec_datagram_zero (ec_datagram_t *datagram)
 Fills the datagram payload memory with zeros.
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.
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.
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.
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.
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.
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.
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.
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.
int ec_datagram_brd (ec_datagram_t *datagram, uint16_t mem_address, size_t data_size)
 Initializes an EtherCAT BRD datagram.
int ec_datagram_bwr (ec_datagram_t *datagram, uint16_t mem_address, size_t data_size)
 Initializes an EtherCAT BWR datagram.
int ec_datagram_brw (ec_datagram_t *datagram, uint16_t mem_address, size_t data_size)
 Initializes an EtherCAT BRW datagram.
int ec_datagram_lrd (ec_datagram_t *datagram, uint32_t offset, size_t data_size)
 Initializes an EtherCAT LRD datagram.
int ec_datagram_lwr (ec_datagram_t *datagram, uint32_t offset, size_t data_size)
 Initializes an EtherCAT LWR datagram.
int ec_datagram_lrw (ec_datagram_t *datagram, uint32_t offset, size_t data_size)
 Initializes an EtherCAT LRW datagram.
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.
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.
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.
void ec_datagram_print_state (const ec_datagram_t *datagram)
 Prints the state of a datagram.
void ec_datagram_print_wc_error (const ec_datagram_t *datagram)
 Evaluates the working counter of a single-cast datagram.
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.

Variables

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

Detailed Description

Methods of an EtherCAT datagram.

Definition in file datagram.c.

Function Documentation

void ec_datagram_init ( ec_datagram_t *  datagram  ) 

Constructor.

Parameters:
datagram  EtherCAT datagram.

Definition at line 88 of file datagram.c.

void ec_datagram_clear ( ec_datagram_t *  datagram  ) 

Destructor.

Parameters:
datagram  EtherCAT datagram.

Definition at line 118 of file datagram.c.

void ec_datagram_unqueue ( ec_datagram_t *  datagram  ) 

Unqueue datagram.

Parameters:
datagram  EtherCAT datagram.

Definition at line 132 of file datagram.c.

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 150 of file datagram.c.

void ec_datagram_zero ( ec_datagram_t *  datagram  ) 

Fills the datagram payload memory with zeros.

Parameters:
datagram  EtherCAT datagram.

Definition at line 178 of file datagram.c.

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 189 of file datagram.c.

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 210 of file datagram.c.

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 231 of file datagram.c.

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 252 of file datagram.c.

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 273 of file datagram.c.

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 298 of file datagram.c.

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 323 of file datagram.c.

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 348 of file datagram.c.

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 373 of file datagram.c.

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 393 of file datagram.c.

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 413 of file datagram.c.

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 433 of file datagram.c.

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 452 of file datagram.c.

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 471 of file datagram.c.

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 493 of file datagram.c.

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 518 of file datagram.c.

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 543 of file datagram.c.

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 565 of file datagram.c.

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 602 of file datagram.c.

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 642 of file datagram.c.

Variable Documentation

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.

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