master

datagram.c File Reference

Detailed Description

Methods of an EtherCAT datagram.

Definition in file datagram.c.

Go to the source code of this file.

Functions

void ec_datagram_init (ec_datagram_t *datagram)
 Datagram constructor.
void ec_datagram_clear (ec_datagram_t *datagram)
 Datagram destructor.
int ec_datagram_prealloc (ec_datagram_t *datagram, size_t size)
 Allocates datagram data memory.
int ec_datagram_nprd (ec_datagram_t *datagram, uint16_t node_address, uint16_t offset, size_t data_size)
 Initializes an EtherCAT NPRD datagram.
int ec_datagram_npwr (ec_datagram_t *datagram, uint16_t node_address, uint16_t offset, size_t data_size)
 Initializes an EtherCAT NPWR datagram.
int ec_datagram_aprd (ec_datagram_t *datagram, uint16_t ring_position, uint16_t offset, size_t data_size)
 Initializes an EtherCAT APRD datagram.
int ec_datagram_apwr (ec_datagram_t *datagram, uint16_t ring_position, uint16_t offset, size_t data_size)
 Initializes an EtherCAT APWR datagram.
int ec_datagram_brd (ec_datagram_t *datagram, uint16_t offset, size_t data_size)
 Initializes an EtherCAT BRD datagram.
int ec_datagram_bwr (ec_datagram_t *datagram, uint16_t offset, size_t data_size)
 Initializes an EtherCAT BWR datagram.
int ec_datagram_lrw (ec_datagram_t *datagram, uint32_t offset, size_t data_size)
 Initializes an EtherCAT LRW datagram.

Function Documentation

void ec_datagram_init (  ec_datagram_t *  datagram  ) 
 

Datagram constructor.

Parameters:
datagram  EtherCAT datagram

Definition at line 70 of file datagram.c.

void ec_datagram_clear (  ec_datagram_t *  datagram  ) 
 

Datagram destructor.

Parameters:
datagram  EtherCAT datagram

Definition at line 89 of file datagram.c.

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.

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