soe_request.c File Reference

Sercos-over-EtherCAT request functions. More...

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Macros
#define	EC_SOE_REQUEST_RESPONSE_TIMEOUT   1000
	Default timeout in ms to wait for SoE responses.

Functions
void	ec_soe_request_clear_data (ec_soe_request_t *req)
	Free allocated memory.
void	ec_soe_request_init (ec_soe_request_t *req)
	SoE request constructor.
void	ec_soe_request_clear (ec_soe_request_t *req)
	SoE request destructor.
int	ec_soe_request_copy (ec_soe_request_t *req, const ec_soe_request_t *other)
	Copy another SoE request.
void	ec_soe_request_set_drive_no (ec_soe_request_t *req, uint8_t drive_no)
	Set drive number.
void	ec_soe_request_set_idn (ec_soe_request_t *req, uint16_t idn)
	Set IDN.
int	ec_soe_request_alloc (ec_soe_request_t *req, size_t size)
	Pre-allocates the data memory.
int	ec_soe_request_copy_data (ec_soe_request_t *req, const uint8_t *source, size_t size)
	Copies SoE data from an external source.
int	ec_soe_request_append_data (ec_soe_request_t *req, const uint8_t *source, size_t size)
	Copies SoE data from an external source.
int	ec_soe_request_read (ec_soe_request_t *req)
	Request a read operation.
int	ec_soe_request_write (ec_soe_request_t *req)
	Request a write operation.
int	ec_soe_request_timed_out (const ec_soe_request_t *req)
	Checks, if the timeout was exceeded.
int	ecrt_soe_request_idn (ec_soe_request_t *req, uint8_t drive_no, uint16_t idn)
	Set the request's drive and Sercos ID numbers.
int	ecrt_soe_request_timeout (ec_soe_request_t *req, uint32_t timeout)
	Set the timeout for an SoE request.
uint8_t *	ecrt_soe_request_data (const ec_soe_request_t *req)
	Access to the SoE request's data.
size_t	ecrt_soe_request_data_size (const ec_soe_request_t *req)
	Returns the current IDN data size.
ec_request_state_t	ecrt_soe_request_state (const ec_soe_request_t *req)
	Get the current state of the SoE request.
int	ecrt_soe_request_read (ec_soe_request_t *req)
	Schedule an SoE IDN read operation.
int	ecrt_soe_request_write (ec_soe_request_t *req)
	Schedule an SoE IDN write operation.

Detailed Description

Sercos-over-EtherCAT request functions.

Definition in file soe_request.c.

Macro Definition Documentation

EC_SOE_REQUEST_RESPONSE_TIMEOUT

#define EC_SOE_REQUEST_RESPONSE_TIMEOUT   1000

Default timeout in ms to wait for SoE responses.

Definition at line 38 of file soe_request.c.

Function Documentation

ec_soe_request_clear_data()

void ec_soe_request_clear_data

(

ec_soe_request_t *

req

)

Free allocated memory.

Parameters

req	SoE request.

Definition at line 123 of file soe_request.c.

ec_soe_request_init()

void ec_soe_request_init

(

ec_soe_request_t *

req

)

SoE request constructor.

Parameters

req	SoE request.

Definition at line 48 of file soe_request.c.

ec_soe_request_clear()

void ec_soe_request_clear

(

ec_soe_request_t *

req

)

SoE request destructor.

Parameters

req	SoE request.

Definition at line 71 of file soe_request.c.

ec_soe_request_copy()

int ec_soe_request_copy	(	ec_soe_request_t *	req,
		const ec_soe_request_t *	other )

Copy another SoE request.

Returns

Zero on success, otherwise a negative error code.

Parameters

req	SoE request.
other	Other SoE request to copy from.

Definition at line 84 of file soe_request.c.

ec_soe_request_set_drive_no()

void ec_soe_request_set_drive_no	(	ec_soe_request_t *	req,
		uint8_t	drive_no )

Set drive number.

Parameters

req	SoE request.
drive_no	Drive Number.

Definition at line 99 of file soe_request.c.

ec_soe_request_set_idn()

void ec_soe_request_set_idn	(	ec_soe_request_t *	req,
		uint16_t	idn )

Set IDN.

Parameters

req	SoE request.
idn	IDN.

Definition at line 111 of file soe_request.c.

ec_soe_request_alloc()

int ec_soe_request_alloc	(	ec_soe_request_t *	req,
		size_t	size )

Pre-allocates the data memory.

If the mem_size is already bigger than size, nothing is done.

Returns

0 on success, otherwise -ENOMEM.

Parameters

req	SoE request.
size	Data size to allocate.

Definition at line 144 of file soe_request.c.

ec_soe_request_copy_data()

int ec_soe_request_copy_data	(	ec_soe_request_t *	req,
		const uint8_t *	source,
		size_t	size )

Copies SoE data from an external source.

If the mem_size is to small, new memory is allocated.

Return values

0	Success.
<0	Error code.

Parameters

req	SoE request.
source	Source data.
size	Number of bytes in source.

Definition at line 173 of file soe_request.c.

ec_soe_request_append_data()

int ec_soe_request_append_data	(	ec_soe_request_t *	req,
		const uint8_t *	source,
		size_t	size )

Copies SoE data from an external source.

If the mem_size is to small, new memory is allocated.

Return values

0	Success.
<0	Error code.

Parameters

req	SoE request.
source	Source data.
size	Number of bytes in source.

Definition at line 197 of file soe_request.c.

ec_soe_request_read()

int ec_soe_request_read

(

ec_soe_request_t *

req

)

Request a read operation.

Parameters

req	SoE request.

Definition at line 226 of file soe_request.c.

ec_soe_request_write()

int ec_soe_request_write

(

ec_soe_request_t *

req

)

Request a write operation.

Parameters

req	SoE request.

Definition at line 241 of file soe_request.c.

ec_soe_request_timed_out()

int ec_soe_request_timed_out

(

const ec_soe_request_t *

req

)

Checks, if the timeout was exceeded.

Returns

non-zero if the timeout was exceeded, else zero.

Parameters

req	SDO request.

Definition at line 258 of file soe_request.c.