datagram.h File Reference

---

Detailed Description

EtherCAT datagram structure.

Definition in file datagram.h.

Go to the source code of this file.

Data Structures
union	ec_address_t
	EtherCAT address. More...
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_NPRD = 0x04,   EC_DATAGRAM_NPWR = 0x05, EC_DATAGRAM_BRD = 0x07, EC_DATAGRAM_BWR = 0x08, EC_DATAGRAM_LRW = 0x0C }
	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 *)
	Datagram constructor.
void	ec_datagram_clear (ec_datagram_t *)
	Datagram destructor.
int	ec_datagram_prealloc (ec_datagram_t *, size_t)
	Allocates datagram data memory.
int	ec_datagram_nprd (ec_datagram_t *, uint16_t, uint16_t, size_t)
	Initializes an EtherCAT NPRD datagram.
int	ec_datagram_npwr (ec_datagram_t *, uint16_t, uint16_t, size_t)
	Initializes an EtherCAT NPWR datagram.
int	ec_datagram_aprd (ec_datagram_t *, uint16_t, uint16_t, size_t)
	Initializes an EtherCAT APRD datagram.
int	ec_datagram_apwr (ec_datagram_t *, uint16_t, uint16_t, size_t)
	Initializes an EtherCAT APWR datagram.
int	ec_datagram_brd (ec_datagram_t *, uint16_t, size_t)
	Initializes an EtherCAT BRD datagram.
int	ec_datagram_bwr (ec_datagram_t *, uint16_t, size_t)
	Initializes an EtherCAT BWR datagram.
int	ec_datagram_lrw (ec_datagram_t *, uint32_t, size_t)
	Initializes an EtherCAT LRW datagram.

---

Enumeration Type Documentation

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_NPRD  Node-addressed physical read. EC_DATAGRAM_NPWR  Node-addressed physical write. EC_DATAGRAM_BRD  Broadcast read. EC_DATAGRAM_BWR  Broadcast write. EC_DATAGRAM_LRW  Logical read/write. Definition at line 56 of file datagram.h.

enum ec_datagram_state_t

EtherCAT datagram state. Enumerator: EC_DATAGRAM_INIT  new datagram EC_DATAGRAM_QUEUED  datagram queued by master EC_DATAGRAM_SENT  datagram has been sent and still in the queue EC_DATAGRAM_RECEIVED  datagram has been received and dequeued EC_DATAGRAM_TIMED_OUT  datagram timed out and was dequeued EC_DATAGRAM_ERROR  error while sending/receiving, datagram dequeued Definition at line 73 of file datagram.h.

---

Function Documentation

int ec_datagram_prealloc (  ec_datagram_t *  datagram, size_t  size )

Allocates datagram data memory. If the allocated memory is already larger than requested, nothing ist done. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram size  New size in bytes Definition at line 102 of file datagram.c.

int ec_datagram_nprd (  ec_datagram_t *  datagram, uint16_t  node_address, uint16_t  offset, size_t  data_size )

Initializes an EtherCAT NPRD datagram. Node-adressed physical read. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram node_address  configured station address offset  physical memory address data_size  number of bytes to read Definition at line 131 of file datagram.c.

int ec_datagram_npwr (  ec_datagram_t *  datagram, uint16_t  node_address, uint16_t  offset, size_t  data_size )

Initializes an EtherCAT NPWR datagram. Node-adressed physical write. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram node_address  configured station address offset  physical memory address data_size  number of bytes to write Definition at line 159 of file datagram.c.

int ec_datagram_aprd (  ec_datagram_t *  datagram, uint16_t  ring_position, uint16_t  offset, size_t  data_size )

Initializes an EtherCAT APRD datagram. Autoincrement physical read. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram ring_position  auto-increment position offset  physical memory address data_size  number of bytes to read Definition at line 187 of file datagram.c.

int ec_datagram_apwr (  ec_datagram_t *  datagram, uint16_t  ring_position, uint16_t  offset, size_t  data_size )

Initializes an EtherCAT APWR datagram. Autoincrement physical write. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram ring_position  auto-increment position offset  physical memory address data_size  number of bytes to write Definition at line 212 of file datagram.c.

int ec_datagram_brd (  ec_datagram_t *  datagram, uint16_t  offset, size_t  data_size )

Initializes an EtherCAT BRD datagram. Broadcast read. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram offset  physical memory address data_size  number of bytes to read Definition at line 237 of file datagram.c.

int ec_datagram_bwr (  ec_datagram_t *  datagram, uint16_t  offset, size_t  data_size )

Initializes an EtherCAT BWR datagram. Broadcast write. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram offset  physical memory address data_size  number of bytes to write Definition at line 260 of file datagram.c.

int ec_datagram_lrw (  ec_datagram_t *  datagram, uint32_t  offset, size_t  data_size )

Initializes an EtherCAT LRW datagram. Logical read write. Returns: 0 in case of success, else < 0 Parameters: datagram  EtherCAT datagram offset  logical address data_size  number of bytes to read/write Definition at line 283 of file datagram.c.

---