Mailbox

Data Structures
struct	ec_mbx_header
	ethercat mailbox header More...
struct	ec_mbx_buffer
	ethercat mailbox data More...
struct	ec_mbx

Macros
#define	MAILBOX_WRITE   (osal_uint16_t)(0u)
	Write mailbox number.
#define	MAILBOX_READ   (osal_uint16_t)(1u)
	Read mailbox number.
#define	MESSAGE_POOL_DEBUG(type)   {}
#define	ec_mbx_get_free_recv_buffer(pec, slave, entry, timeout, lock)    pool_get(&(pec)->mbx_message_pool_recv_free, &(entry), (timeout))
#define	ec_mbx_get_free_send_buffer_old(pec, slave, entry, timeout, lock)    pool_get(&(pec)->mbx_message_pool_send_free, &(entry), (timeout))
#define	ec_mbx_return_free_send_buffer(pec, slave, entry)    pool_put(&(pec)->mbx_message_pool_send_free, (entry))
#define	ec_mbx_return_free_recv_buffer(pec, slave, entry)    pool_put(&(pec)->mbx_message_pool_recv_free, (entry))

Typedefs
typedef struct ec	ec_t
typedef struct PACKED ec_mbx_header	ec_mbx_header_t
	ethercat mailbox header
typedef struct PACKED ec_mbx_buffer	ec_mbx_buffer_t
	ethercat mailbox data
typedef struct ec_mbx	ec_mbx_t

Enumerations
enum	{   EC_MBX_ERR = 0x00 , EC_MBX_AOE , EC_MBX_EOE , EC_MBX_COE ,   EC_MBX_FOE , EC_MBX_SOE , EC_MBX_VOE = 0x0f }
	mailbox types More...

Functions
void	ec_mbx_init (ec_t *pec, osal_uint16_t slave)
	Initialize mailbox structure.
void	ec_mbx_deinit (ec_t *pec, osal_uint16_t slave)
	Deinit mailbox structure.
void	ec_mbx_enqueue_head (ec_t *pec, osal_uint16_t slave, pool_entry_t *p_entry)
	Enqueue mailbox message to send queue.
void	ec_mbx_enqueue_tail (ec_t *pec, osal_uint16_t slave, pool_entry_t *p_entry)
	Enqueue mailbox message to send queue.
void	ec_mbx_sched_read (ec_t *pec, osal_uint16_t slave)
	Trigger read of mailbox.
int	ec_mbx_check (ec_t *pec, int slave, osal_uint16_t mbx_flag)
	Checks if mailbox protocol is supported by slave.
int	ec_mbx_next_counter (ec_t *pec, int slave, int *seq_counter)
	Get next sequence counter.
int	ec_mbx_get_free_send_buffer (ec_t *pec, osal_uint16_t slave, pool_entry_t **pp_entry, osal_timer_t *timeout)
	Get free mailbox send buffer from slaves send message pool.
void	ec_mbx_do_handle (ec_t *pec, uint16_t slave)
	Handle slaves mailbox.

Detailed Description

This modules contains EtherCAT mailbox funcitons.

Enumeration Type Documentation

anonymous enum

anonymous enum

mailbox types

Enumerator
EC_MBX_ERR	error mailbox
EC_MBX_AOE	ADS over EtherCAT mailbox.
EC_MBX_EOE	Ethernet over EtherCAT mailbox.
EC_MBX_COE	CANopen over EtherCAT mailbox.
EC_MBX_FOE	File over EtherCAT mailbox.
EC_MBX_SOE	Servo over EtherCAT mailbox.
EC_MBX_VOE	Vendor over EtherCAT mailbox.

Function Documentation

ec_mbx_check()

int ec_mbx_check	(	ec_t *	pec,
		int	slave,
		osal_uint16_t	mbx_flag
	)

Checks if mailbox protocol is supported by slave.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	mbx_flag	Mailbox protocols flag to be checked

Return values

EC_OK	If all requested protocols supported, otherwise ored error codes.
EC_ERROR_MAILBOX_NOT_SUPPORTED_AOE	Mailbox AoE not supported.
EC_ERROR_MAILBOX_NOT_SUPPORTED_EOE	Mailbox EoE not supported.
EC_ERROR_MAILBOX_NOT_SUPPORTED_COE	Mailbox CoE not supported.
EC_ERROR_MAILBOX_NOT_SUPPORTED_FOE	Mailbox FoE not supported.
EC_ERROR_MAILBOX_NOT_SUPPORTED_SOE	Mailbox SoE not supported.
EC_ERROR_MAILBOX_NOT_SUPPORTED_VOE	Mailbox VoE not supported.

ec_mbx_deinit()

void ec_mbx_deinit	(	ec_t *	pec,
		osal_uint16_t	slave
	)

Deinit mailbox structure.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_mbx_do_handle()

void ec_mbx_do_handle	(	ec_t *	pec,
		uint16_t	slave
	)

Handle slaves mailbox.

This function is usually called by the mbx handler thread.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_mbx_enqueue_head()

void ec_mbx_enqueue_head	(	ec_t *	pec,
		osal_uint16_t	slave,
		pool_entry_t *	p_entry
	)

Enqueue mailbox message to send queue.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	p_entry	Entry to enqueue to be sent via mailbox.

ec_mbx_enqueue_tail()

void ec_mbx_enqueue_tail	(	ec_t *	pec,
		osal_uint16_t	slave,
		pool_entry_t *	p_entry
	)

Enqueue mailbox message to send queue.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	p_entry	Entry to enqueue to be sent via mailbox.

ec_mbx_get_free_send_buffer()

int ec_mbx_get_free_send_buffer	(	ec_t *	pec,
		osal_uint16_t	slave,
		pool_entry_t **	pp_entry,
		osal_timer_t *	timeout
	)

Get free mailbox send buffer from slaves send message pool.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[out]	pp_entry	Pointer to pool entry pointer where buffer is returned.
[in]	timeout	Pointer to timeout or NULL.

Returns

EC_OK on success, otherwise EC_ERROR_MAILBOX_* code.

ec_mbx_init()

void ec_mbx_init	(	ec_t *	pec,
		osal_uint16_t	slave
	)

Initialize mailbox structure.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_mbx_next_counter()

int ec_mbx_next_counter	(	ec_t *	pec,
		int	slave,
		int *	seq_counter
	)

Get next sequence counter.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	seq_cnt	Returns sequence counter.

Returns

EC_OK on success.

ec_mbx_sched_read()

void ec_mbx_sched_read	(	ec_t *	pec,
		osal_uint16_t	slave
	)

Trigger read of mailbox.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).