voe_handler.c File Reference

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

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Defines
#define	EC_MBOX_TYPE_VOE   0x0f
	VoE mailbox type.
#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_check (ec_voe_handler_t *voe)
	Check for new data in the mailbox.
void	ec_voe_handler_state_read_response (ec_voe_handler_t *voe)
	Read the pending mailbox data.
void	ec_voe_handler_state_read_nosync_start (ec_voe_handler_t *voe)
	Start reading VoE data without sending a sync message before.
void	ec_voe_handler_state_read_nosync_response (ec_voe_handler_t *voe)
	Read the pending mailbox data without sending a sync message before.
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.
void	ec_voe_handler_clear (ec_voe_handler_t *voe)
	VoE handler destructor.
size_t	ec_voe_handler_mem_size (const ec_voe_handler_t *voe)
	Get usable memory size.
void	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.
void	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.
uint8_t *	ecrt_voe_handler_data (ec_voe_handler_t *voe)
	Access to the VoE handler's data.
size_t	ecrt_voe_handler_data_size (const ec_voe_handler_t *voe)
	Returns the current data size.
void	ecrt_voe_handler_read (ec_voe_handler_t *voe)
	Start a VoE read operation.
void	ecrt_voe_handler_read_nosync (ec_voe_handler_t *voe)
	Start a VoE read operation without querying the sync manager status.
void	ecrt_voe_handler_write (ec_voe_handler_t *voe, size_t size)
	Start a VoE write operation.
ec_request_state_t	ecrt_voe_handler_execute (ec_voe_handler_t *voe)
	Execute the handler.

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Detailed Description

Vendor specific over EtherCAT protocol handler functions.

Definition in file voe_handler.c.

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Function Documentation

void ec_voe_handler_state_read_nosync_response

(

ec_voe_handler_t *

voe

)

Read the pending mailbox data without sending a sync message before.

This might lead to an empty reponse from the client.

Definition at line 462 of file voe_handler.c.

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 76 of file voe_handler.c.

void ec_voe_handler_clear

(

ec_voe_handler_t *

voe

)

VoE handler destructor.

Parameters:

voe	VoE handler.

Definition at line 99 of file voe_handler.c.

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 112 of file voe_handler.c.