File syn_ethercat.c¶

FileList > proto > syn_ethercat.c

Bare-metal EtherCAT Protocol Engine implementation.

#include "../util/syn_assert.h"
#include "syn_ethercat.h"
#include <string.h>

Public Functions¶

Type	Name
size_t	syn_ecat_build_datagram_frame (uint8_t * buf, size_t buf_len, const SYN_EcatDatagram * datagram, const uint8_t * data, uint16_t data_len) Build an EtherCAT Frame containing one or more datagrams.
size_t	syn_ecat_coe_encode_sdo_download (uint8_t * buf, size_t buf_len, uint16_t index, uint8_t subindex, const void * data, size_t data_len) Encode a CoE SDO Download (Write) request into a mailbox buffer.
size_t	syn_ecat_coe_encode_sdo_upload (uint8_t * buf, size_t buf_len, uint16_t index, uint8_t subindex) Encode a CoE SDO Upload (Read) request into a mailbox buffer.
SYN_Status	syn_ecat_decode_coe_sdo_response (SYN_EcatMaster * m, size_t rx_len, void * out_data, size_t max_len, size_t * out_len) Decode SDO Upload response payload from rx_buf.
SYN_Status	syn_ecat_decode_cyclic (SYN_EcatMaster * m, size_t rx_len) Parse LRW cyclic process exchange response from rx_buf and copy inputs to input_image.
SYN_Status	syn_ecat_decode_read_al_status (SYN_EcatMaster * m, size_t rx_len, SYN_EcatState * state, uint16_t * status_code) Decode Application Layer (AL) Status and Status Code from response.
SYN_Status	syn_ecat_decode_read_reg (SYN_EcatMaster * m, size_t rx_len, void * out_data, uint16_t len) Decode FPRD response datagram for register read.
SYN_Status	syn_ecat_decode_read_sii (SYN_EcatMaster * m, size_t rx_len, uint32_t * out_val) Decode 32-bit word from SII EEPROM read response.
uint8_t	syn_ecat_decode_scan_bus (SYN_EcatMaster * m, size_t rx_len) Decode slave count from scan_bus response frame in rx_buf.
size_t	syn_ecat_encode_assign_addr (SYN_EcatMaster * m, uint16_t position, uint16_t station_addr) Encode Auto-Increment Write (APWR) to assign station address.
size_t	syn_ecat_encode_coe_sdo_read (SYN_EcatMaster * m, uint16_t station_addr, uint16_t index, uint8_t subindex) Encode a complete Mailbox-wrapped CoE SDO Upload request frame into tx_buf.
size_t	syn_ecat_encode_coe_sdo_write (SYN_EcatMaster * m, uint16_t station_addr, uint16_t index, uint8_t subindex, const void * data, size_t data_len) Encode a complete Mailbox-wrapped CoE SDO Download request frame into tx_buf.
size_t	syn_ecat_encode_cyclic (SYN_EcatMaster * m) Encode LRW (Logical Read Write) cyclic process exchange frame into tx_buf.
size_t	syn_ecat_encode_dc_configure (SYN_EcatMaster * m, uint16_t station_addr, uint32_t sync0_cycle_ns, int32_t sync0_shift_ns) Encode FPWR to configure DC SYNC0 cycle time and shift for a slave.
size_t	syn_ecat_encode_dc_read_system_time (SYN_EcatMaster * m) Encode Auto-Increment Read Multiple Write (ARMW) for DC System Time propagation.
size_t	syn_ecat_encode_read_al_status (SYN_EcatMaster * m, uint16_t station_addr) Encode Configured Read (FPRD) to read slave Application Layer (AL) Status.
size_t	syn_ecat_encode_read_reg (SYN_EcatMaster * m, uint16_t station_addr, uint16_t reg_addr, uint16_t len) Encode FPRD to read register `reg_addr` from slave`station_addr` .
size_t	syn_ecat_encode_read_sii (SYN_EcatMaster * m, uint16_t station_addr, uint16_t word_offset) Encode Configured Read (FPRD) to read SII EEPROM word.
size_t	syn_ecat_encode_scan_bus (SYN_EcatMaster * m) Encode Broadcast Read (BRD) to scan bus slave count into master tx_buf.
size_t	syn_ecat_encode_set_al_control (SYN_EcatMaster * m, uint16_t station_addr, SYN_EcatState state) Encode Configured Write (FPWR) to set slave Application Layer (AL) Control register.
size_t	syn_ecat_encode_write_fmmu (SYN_EcatMaster * m, uint16_t station_addr, uint8_t fmmu_index, const SYN_EcatFMMUConfig * cfg) Encode Configured Write (FPWR) to configure an FMMU register block.
size_t	syn_ecat_encode_write_reg (SYN_EcatMaster * m, uint16_t station_addr, uint16_t reg_addr, const void * data, uint16_t len) Encode FPWR to write register `reg_addr` to slave`station_addr` .
size_t	syn_ecat_encode_write_sm (SYN_EcatMaster * m, uint16_t station_addr, uint8_t sm_index, const SYN_EcatSMConfig * cfg) Encode Configured Write (FPWR) to configure a SyncManager register block.
size_t	syn_ecat_frame_add_datagram (uint8_t * buf, size_t buf_size, SYN_EcatCmd cmd, uint8_t idx, uint32_t addr, const uint8_t * data, uint16_t data_len, bool circ) Add a datagram payload to an in-progress EtherCAT frame.
void	syn_ecat_frame_begin (uint8_t * buf, size_t buf_size) Initialize an EtherCAT frame buffer header.
size_t	syn_ecat_frame_finalize (uint8_t * buf) Finalize EtherCAT frame header length field.
bool	syn_ecat_frame_parse_next (const uint8_t * frame, size_t frame_len, size_t * offset, SYN_EcatDatagramResult * out) Parse the next datagram from an EtherCAT frame buffer.
void	syn_ecat_init (SYN_EcatNode * node, uint16_t station_addr, SYN_CANOpenNode * od) Initialize an EtherCAT Node instance.
SYN_PT_Status	syn_ecat_master_cyclic_task (SYN_PT * pt, SYN_EcatMaster * m) Protothread Task: Execute single cyclic process exchange cycle.
SYN_PT_Status	syn_ecat_master_discover_pdo_mapping_task (SYN_PT * pt, SYN_EcatMaster * m, uint16_t station_addr, uint16_t * out_rx_bytes, uint16_t * out_tx_bytes) Protothread Task: Read CoE Object Dictionary 0x1C12/0x1C13 to calculate slave Rx/Tx PDO byte lengths.
SYN_Status	syn_ecat_master_init (SYN_EcatMaster * m, uint8_t * tx_buf, uint16_t tx_buf_size, uint8_t * rx_buf, uint16_t rx_buf_size, uint8_t * output_image, uint16_t output_size, uint8_t * input_image, uint16_t input_size) Initialize EtherCAT Master instance context.
bool	syn_ecat_master_pop_tx_frame (SYN_EcatMaster * m, const uint8_t ** out_frame, size_t * out_len) Pop pending transmit frame for Ethernet PHY driver.
SYN_PT_Status	syn_ecat_master_read_sii_task (SYN_PT * pt, SYN_EcatMaster * m, uint16_t station_addr, uint16_t word_offset, uint32_t * out_data) Protothread Task: Read 32-bit word from slave SII EEPROM via hardware status polling.
SYN_PT_Status	syn_ecat_master_scan_task (SYN_PT * pt, SYN_EcatMaster * m) Protothread Task: Scan EtherCAT bus and assign station addresses.
SYN_PT_Status	syn_ecat_master_sdo_read_task (SYN_PT * pt, SYN_EcatMaster * m, uint16_t station_addr, uint16_t index, uint8_t subindex, void * out_data, size_t max_len, size_t * out_len) Protothread Task: CoE SDO read from slave Object Dictionary with SM1 polling.
SYN_Status	syn_ecat_master_set_rx_frame (SYN_EcatMaster * m, const uint8_t * frame, size_t len) Feed received Ethernet frame into Master context.
SYN_PT_Status	syn_ecat_master_transition_task (SYN_PT * pt, SYN_EcatMaster * m, SYN_EcatState target_state) Protothread Task: Drive EtherCAT slaves through state transition.
SYN_Status	syn_ecat_parse_frame (SYN_EcatNode * node, const uint8_t * frame, size_t len, uint16_t * wkc) Parse and process a received raw EtherCAT frame.
SYN_Status	syn_ecat_set_state (SYN_EcatNode * node, SYN_EcatState new_state) Request an EtherCAT State Machine (ESM) state transition.
void	syn_ecat_update (SYN_EcatNode * node) Run ESM state machine step.

Public Static Functions¶

Type	Name
uint16_t	load16_le (const uint8_t * p) Load 16-bit unsigned integer from little-endian byte order.
uint32_t	load32_le (const uint8_t * p) Load 32-bit unsigned integer from little-endian byte order.
void	store16_le (uint8_t * p, uint16_t val) Store 16-bit unsigned integer in little-endian byte order.
void	store32_le (uint8_t * p, uint32_t val) Store 32-bit unsigned integer in little-endian byte order.
uint16_t	syn_ecat_get_slave_station_addr (const SYN_EcatMaster * m, uint8_t idx) Get configured station address for slave index.

Public Functions Documentation¶

function syn_ecat_build_datagram_frame¶

Build an EtherCAT Frame containing one or more datagrams.

size_t syn_ecat_build_datagram_frame (
    uint8_t * buf,
    size_t buf_len,
    const SYN_EcatDatagram * datagram,
    const uint8_t * data,
    uint16_t data_len
)

Parameters:

buf Output frame buffer (must include Ethernet header space if needed).
buf_len Capacity of output buffer.
datagram Datagram header descriptor.
data Payload bytes to write into datagram.
data_len Payload length.

Returns:

Total EtherCAT frame length in bytes, or 0 on error.

function syn_ecat_coe_encode_sdo_download¶

Encode a CoE SDO Download (Write) request into a mailbox buffer.

size_t syn_ecat_coe_encode_sdo_download (
    uint8_t * buf,
    size_t buf_len,
    uint16_t index,
    uint8_t subindex,
    const void * data,
    size_t data_len
)

Parameters:

buf Output buffer.
buf_len Capacity of output buffer.
index Object Dictionary Index (0x0000 - 0xFFFF).
subindex Subindex (0x00 - 0xFF).
data Data bytes to write.
data_len Data length (1-4 bytes for expedited SDO).

Returns:

Encoded CoE Mailbox packet length in bytes, or 0 on error.

function syn_ecat_coe_encode_sdo_upload¶

Encode a CoE SDO Upload (Read) request into a mailbox buffer.

size_t syn_ecat_coe_encode_sdo_upload (
    uint8_t * buf,
    size_t buf_len,
    uint16_t index,
    uint8_t subindex
)

Parameters:

buf Output buffer.
buf_len Capacity of output buffer.
index Object Dictionary Index (0x0000 - 0xFFFF).
subindex Subindex (0x00 - 0xFF).

Returns:

Encoded CoE Mailbox packet length in bytes, or 0 on error.

function syn_ecat_decode_coe_sdo_response¶

Decode SDO Upload response payload from rx_buf.

SYN_Status syn_ecat_decode_coe_sdo_response (
    SYN_EcatMaster * m,
    size_t rx_len,
    void * out_data,
    size_t max_len,
    size_t * out_len
)

Parameters:

m Pointer to master handle.
rx_len Received frame length.
out_data Output destination buffer.
max_len Maximum output buffer capacity.
out_len Pointer to receive read byte count.

Returns:

SYN_OK on success.

function syn_ecat_decode_cyclic¶

Parse LRW cyclic process exchange response from rx_buf and copy inputs to input_image.

SYN_Status syn_ecat_decode_cyclic (
    SYN_EcatMaster * m,
    size_t rx_len
)

Parameters:

m Pointer to master handle.
rx_len Received frame byte length.

Returns:

SYN_OK if WKC >= wkc_expected, SYN_ERROR on WKC mismatch or parsing error.

function syn_ecat_decode_read_al_status¶

Decode Application Layer (AL) Status and Status Code from response.

SYN_Status syn_ecat_decode_read_al_status (
    SYN_EcatMaster * m,
    size_t rx_len,
    SYN_EcatState * state,
    uint16_t * status_code
)

Parameters:

m Pointer to master handle.
rx_len Received frame length.
state [out] Output location for current ESM state.
status_code [out] Output location for AL status error code.

Returns:

SYN_OK on success.

function syn_ecat_decode_read_reg¶

Decode FPRD response datagram for register read.

SYN_Status syn_ecat_decode_read_reg (
    SYN_EcatMaster * m,
    size_t rx_len,
    void * out_data,
    uint16_t len
)

Parameters:

m Pointer to master handle.
rx_len Received Ethernet frame length.
out_data Destination buffer for register data.
len Expected byte length.

Returns:

SYN_OK on success, error code otherwise.

function syn_ecat_decode_read_sii¶

Decode 32-bit word from SII EEPROM read response.

SYN_Status syn_ecat_decode_read_sii (
    SYN_EcatMaster * m,
    size_t rx_len,
    uint32_t * out_val
)

Parameters:

m Pointer to master handle.
rx_len Received frame length.
out_val Pointer to receive parsed 32-bit SII value.

Returns:

SYN_OK on success.

function syn_ecat_decode_scan_bus¶

Decode slave count from scan_bus response frame in rx_buf.

uint8_t syn_ecat_decode_scan_bus (
    SYN_EcatMaster * m,
    size_t rx_len
)

Parameters:

m Pointer to master handle.
rx_len Received frame byte length.

Returns:

Discovered slave count.

function syn_ecat_encode_assign_addr¶

Encode Auto-Increment Write (APWR) to assign station address.

size_t syn_ecat_encode_assign_addr (
    SYN_EcatMaster * m,
    uint16_t position,
    uint16_t station_addr
)

Parameters:

m Pointer to master handle.
position Ring position index (0..slave_count-1).
station_addr Configured station address to set (e.g. 0x1001).

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_coe_sdo_read¶

Encode a complete Mailbox-wrapped CoE SDO Upload request frame into tx_buf.

size_t syn_ecat_encode_coe_sdo_read (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t index,
    uint8_t subindex
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.
index Object Dictionary Index.
subindex Subindex.

Returns:

Transmit frame byte length, or 0 on error.

function syn_ecat_encode_coe_sdo_write¶

Encode a complete Mailbox-wrapped CoE SDO Download request frame into tx_buf.

size_t syn_ecat_encode_coe_sdo_write (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t index,
    uint8_t subindex,
    const void * data,
    size_t data_len
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.
index Object Dictionary Index.
subindex Subindex.
data Pointer to payload bytes (<=4 bytes for expedited SDO).
data_len Payload byte length.

Returns:

Transmit frame byte length, or 0 on error.

function syn_ecat_encode_cyclic¶

Encode LRW (Logical Read Write) cyclic process exchange frame into tx_buf.

size_t syn_ecat_encode_cyclic (
    SYN_EcatMaster * m
)

Parameters:

m Pointer to master handle.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_dc_configure¶

Encode FPWR to configure DC SYNC0 cycle time and shift for a slave.

size_t syn_ecat_encode_dc_configure (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint32_t sync0_cycle_ns,
    int32_t sync0_shift_ns
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.
sync0_cycle_ns SYNC0 cycle time in nanoseconds.
sync0_shift_ns SYNC0 shift time in nanoseconds.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_dc_read_system_time¶

Encode Auto-Increment Read Multiple Write (ARMW) for DC System Time propagation.

size_t syn_ecat_encode_dc_read_system_time (
    SYN_EcatMaster * m
)

Parameters:

m Pointer to master handle.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_read_al_status¶

Encode Configured Read (FPRD) to read slave Application Layer (AL) Status.

size_t syn_ecat_encode_read_al_status (
    SYN_EcatMaster * m,
    uint16_t station_addr
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_read_reg¶

Encode FPRD to read register reg_addr from slavestation_addr .

size_t syn_ecat_encode_read_reg (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t reg_addr,
    uint16_t len
)

Parameters:

m Pointer to master handle.
station_addr Configured station address of slave.
reg_addr Register address to read.
len Number of bytes to read.

Returns:

Encoded Ethernet frame length.

function syn_ecat_encode_read_sii¶

Encode Configured Read (FPRD) to read SII EEPROM word.

size_t syn_ecat_encode_read_sii (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t word_offset
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.
word_offset SII EEPROM word offset.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_scan_bus¶

Encode Broadcast Read (BRD) to scan bus slave count into master tx_buf.

size_t syn_ecat_encode_scan_bus (
    SYN_EcatMaster * m
)

Parameters:

m Pointer to master handle.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_set_al_control¶

Encode Configured Write (FPWR) to set slave Application Layer (AL) Control register.

size_t syn_ecat_encode_set_al_control (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    SYN_EcatState state
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.
state Requested ESM State (INIT, PREOP, SAFEOP, OP).

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_write_fmmu¶

Encode Configured Write (FPWR) to configure an FMMU register block.

size_t syn_ecat_encode_write_fmmu (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint8_t fmmu_index,
    const SYN_EcatFMMUConfig * cfg
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.
fmmu_index FMMU index (0..3).
cfg Pointer to FMMU configuration settings.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_encode_write_reg¶

Encode FPWR to write register reg_addr to slavestation_addr .

size_t syn_ecat_encode_write_reg (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t reg_addr,
    const void * data,
    uint16_t len
)

Parameters:

m Pointer to master handle.
station_addr Configured station address of slave.
reg_addr Register address to write.
data Pointer to data bytes to write.
len Number of bytes to write.

Returns:

Encoded Ethernet frame length.

function syn_ecat_encode_write_sm¶

Encode Configured Write (FPWR) to configure a SyncManager register block.

size_t syn_ecat_encode_write_sm (
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint8_t sm_index,
    const SYN_EcatSMConfig * cfg
)

Parameters:

m Pointer to master handle.
station_addr Target slave station address.
sm_index SyncManager index (0..3).
cfg Pointer to SyncManager configuration settings.

Returns:

Transmit frame length in bytes, or 0 on error.

function syn_ecat_frame_add_datagram¶

Add a datagram payload to an in-progress EtherCAT frame.

size_t syn_ecat_frame_add_datagram (
    uint8_t * buf,
    size_t buf_size,
    SYN_EcatCmd cmd,
    uint8_t idx,
    uint32_t addr,
    const uint8_t * data,
    uint16_t data_len,
    bool circ
)

Parameters:

buf Target output buffer.
buf_size Total capacity of output buffer.
cmd Datagram command type.
idx Datagram index.
addr 32-bit address field.
data Payload data bytes (or NULL if data_len is 0).
data_len Payload data length in bytes.
circ True if circulating datagram flag set.

Returns:

Output byte offset after added datagram, or 0 on error / insufficient space.

function syn_ecat_frame_begin¶

Initialize an EtherCAT frame buffer header.

void syn_ecat_frame_begin (
    uint8_t * buf,
    size_t buf_size
)

Parameters:

buf Target output buffer.
buf_size Total capacity of output buffer.

function syn_ecat_frame_finalize¶

Finalize EtherCAT frame header length field.

size_t syn_ecat_frame_finalize (
    uint8_t * buf
)

Parameters:

buf Target output buffer.

Returns:

Total frame size in bytes (including 2-byte EtherCAT header).

function syn_ecat_frame_parse_next¶

Parse the next datagram from an EtherCAT frame buffer.

bool syn_ecat_frame_parse_next (
    const uint8_t * frame,
    size_t frame_len,
    size_t * offset,
    SYN_EcatDatagramResult * out
)

Parameters:

frame Pointer to raw EtherCAT frame bytes (starts with 2-byte EtherCAT header).
frame_len Total byte length of frame buffer.
offset In/out byte offset into frame buffer. Set *offset = 2 to start.
out [out] Result struct to receive parsed datagram details.

Returns:

true if datagram parsed successfully, false if no more datagrams or malformed.

function syn_ecat_init¶

Initialize an EtherCAT Node instance.

void syn_ecat_init (
    SYN_EcatNode * node,
    uint16_t station_addr,
    SYN_CANOpenNode * od
)

Parameters:

node EtherCAT node instance.
station_addr Configured station address.
od Optional CANopen Object Dictionary binding for CoE.

function syn_ecat_master_cyclic_task¶

Protothread Task: Execute single cyclic process exchange cycle.

SYN_PT_Status syn_ecat_master_cyclic_task (
    SYN_PT * pt,
    SYN_EcatMaster * m
)

Parameters:

pt Protothread state handle.
m Pointer to master handle.

Returns:

PT_WAITING if waiting for frames, PT_ENDED when cycle complete.

function syn_ecat_master_discover_pdo_mapping_task¶

Protothread Task: Read CoE Object Dictionary 0x1C12/0x1C13 to calculate slave Rx/Tx PDO byte lengths.

SYN_PT_Status syn_ecat_master_discover_pdo_mapping_task (
    SYN_PT * pt,
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t * out_rx_bytes,
    uint16_t * out_tx_bytes
)

Parameters:

pt Protothread context pointer.
m Pointer to master handle.
station_addr Configured station address of slave.
out_rx_bytes Destination pointer for Rx PDO byte size.
out_tx_bytes Destination pointer for Tx PDO byte size.

Returns:

PT_WAITING if waiting, PT_ENDED when complete.

function syn_ecat_master_init¶

Initialize EtherCAT Master instance context.

SYN_Status syn_ecat_master_init (
    SYN_EcatMaster * m,
    uint8_t * tx_buf,
    uint16_t tx_buf_size,
    uint8_t * rx_buf,
    uint16_t rx_buf_size,
    uint8_t * output_image,
    uint16_t output_size,
    uint8_t * input_image,
    uint16_t input_size
)

Parameters:

m Pointer to master handle.
tx_buf Pointer to static transmit frame buffer.
tx_buf_size Capacity of transmit frame buffer.
rx_buf Pointer to static receive frame buffer.
rx_buf_size Capacity of receive frame buffer.
output_image Output process image buffer pointer.
output_size Output process image byte size.
input_image Input process image buffer pointer.
input_size Input process image byte size.

Returns:

SYN_OK on success, SYN_INVALID_PARAM if parameters null/invalid.

function syn_ecat_master_pop_tx_frame¶

Pop pending transmit frame for Ethernet PHY driver.

bool syn_ecat_master_pop_tx_frame (
    SYN_EcatMaster * m,
    const uint8_t ** out_frame,
    size_t * out_len
)

Parameters:

m Pointer to master handle.
out_frame [out] Pointer to receive frame location.
out_len [out] Pointer to receive frame length.

Returns:

true if frame was popped, false if no frame pending.

function syn_ecat_master_read_sii_task¶

Protothread Task: Read 32-bit word from slave SII EEPROM via hardware status polling.

SYN_PT_Status syn_ecat_master_read_sii_task (
    SYN_PT * pt,
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t word_offset,
    uint32_t * out_data
)

Parameters:

pt Protothread context pointer.
m Pointer to master handle.
station_addr Configured station address of slave.
word_offset 16-bit word offset in SII EEPROM.
out_data Destination pointer for 32-bit word.

Returns:

PT_WAITING if waiting, PT_ENDED when complete.

function syn_ecat_master_scan_task¶

Protothread Task: Scan EtherCAT bus and assign station addresses.

SYN_PT_Status syn_ecat_master_scan_task (
    SYN_PT * pt,
    SYN_EcatMaster * m
)

Parameters:

pt Protothread state handle.
m Pointer to master handle.

Returns:

PT_WAITING if waiting for frames, PT_ENDED when scan complete.

function syn_ecat_master_sdo_read_task¶

Protothread Task: CoE SDO read from slave Object Dictionary with SM1 polling.

SYN_PT_Status syn_ecat_master_sdo_read_task (
    SYN_PT * pt,
    SYN_EcatMaster * m,
    uint16_t station_addr,
    uint16_t index,
    uint8_t subindex,
    void * out_data,
    size_t max_len,
    size_t * out_len
)

Parameters:

pt Protothread context pointer.
m Pointer to master handle.
station_addr Configured station address of slave.
index 16-bit Object Dictionary index.
subindex 8-bit sub-index.
out_data Destination buffer for SDO payload.
max_len Capacity of destination buffer.
out_len Destination pointer for actual payload length.

Returns:

PT_WAITING if waiting, PT_ENDED when complete.

function syn_ecat_master_set_rx_frame¶

Feed received Ethernet frame into Master context.

SYN_Status syn_ecat_master_set_rx_frame (
    SYN_EcatMaster * m,
    const uint8_t * frame,
    size_t len
)

Parameters:

m Pointer to master handle.
frame Pointer to raw frame payload bytes.
len Frame length in bytes.

Returns:

SYN_OK on success.

function syn_ecat_master_transition_task¶

Protothread Task: Drive EtherCAT slaves through state transition.

SYN_PT_Status syn_ecat_master_transition_task (
    SYN_PT * pt,
    SYN_EcatMaster * m,
    SYN_EcatState target_state
)

Parameters:

pt Protothread state handle.
m Pointer to master handle.
target_state Target ESM state (INIT, PREOP, SAFEOP, OP).

Returns:

PT_WAITING if waiting for frames, PT_ENDED when transition complete.

function syn_ecat_parse_frame¶

Parse and process a received raw EtherCAT frame.

SYN_Status syn_ecat_parse_frame (
    SYN_EcatNode * node,
    const uint8_t * frame,
    size_t len,
    uint16_t * wkc
)

Parameters:

node EtherCAT node instance.
frame Raw received frame bytes (after Ethernet header).
len Frame length in bytes.
wkc [out] Extracted Working Counter sum.

Returns:

SYN_OK on successful parsing and WKC validation.

function syn_ecat_set_state¶

Request an EtherCAT State Machine (ESM) state transition.

SYN_Status syn_ecat_set_state (
    SYN_EcatNode * node,
    SYN_EcatState new_state
)

Parameters:

node EtherCAT node instance.
new_state Requested state (INIT, PREOP, BOOT, SAFEOP, OP).

Returns:

SYN_OK if state transition request is valid.

function syn_ecat_update¶

Run ESM state machine step.

void syn_ecat_update (
    SYN_EcatNode * node
)

Parameters:

node EtherCAT node instance.

Public Static Functions Documentation¶

function load16_le¶

Load 16-bit unsigned integer from little-endian byte order.

static inline uint16_t load16_le (
    const uint8_t * p
)

Parameters:

p Pointer to input buffer.

Returns:

16-bit integer value.

function load32_le¶

Load 32-bit unsigned integer from little-endian byte order.

static inline uint32_t load32_le (
    const uint8_t * p
)

Parameters:

p Pointer to input buffer.

Returns:

32-bit integer value.

function store16_le¶

Store 16-bit unsigned integer in little-endian byte order.

static inline void store16_le (
    uint8_t * p,
    uint16_t val
)

Parameters:

p Pointer to output buffer.
val 16-bit integer value.

function store32_le¶

Store 32-bit unsigned integer in little-endian byte order.

static inline void store32_le (
    uint8_t * p,
    uint32_t val
)

Parameters:

p Pointer to output buffer.
val 32-bit integer value.

function syn_ecat_get_slave_station_addr¶

Get configured station address for slave index.

static uint16_t syn_ecat_get_slave_station_addr (
    const SYN_EcatMaster * m,
    uint8_t idx
)

Parameters:

m Pointer to EtherCAT Master instance.
idx Slave index in master slave table.

Returns:

Station address.

The documentation for this class was generated from the following file src/syntropic/proto/syn_ethercat.c