Application Programming Interface

This chapter lists the API functions that are provided by GOAL EtherNet/IP. See the applications on appl/goal_eip/* for a demonstration of the code examples. For further details please refer to the Reference Manual.

goal_eipInit

Initialize GOAL EtherNet/IP. Returns a GOAL_STATUS_T as result. This function must be called within the function appl_init().

No parameters required.

res = goal_eipInit();

goal_eipNew

Create a GOAL EtherNet/IP instance for the given ID and register a callback. This function must be called within the function appl_setup().

Table: goal_eipNew parameters

res = goal_eipNew(&pHdlEip, EIP_INSTANCE_DEFAULT, main_eipCallback);

goal_eipCipClassRegister

Register an application specific CIP class. When the EtherNet/IP stack receives a request for the the registered CIP class it is passed to the handler function.

Table: goal_eipCipClassRegister parameters

res = goal_eipCipClassRegister(pEip, APPL_CLASS_ID_PARAMETER,
                               appl_parameterClassHandler);

goal_eipCreateAssemblyObject

Creates an Assembly onto the given Instance. Returns a GOAL_STATUS_T as result.

Table: goal_eipCreateAssemblyObject parameters

res = goal_eipCreateAssemblyObject(pHdlEip, GOAL_APP_ASM_ID_INPUT,
                                   GOAL_APP_ASM_SIZE_INPUT);

goal_eipCreateAssemblyObjectRpc

Creates an Assembly onto the given Instance on MCTC platforms, the Assembly won’t be added to the Data Mapper. Returns a GOAL_STATUS_T as result.

Table: goal_eipCreateAssemblyObject parameters

res = goal_eipCreateAssemblyObjectRpc(pHdlEip, GOAL_APP_ASM_ID_INPUT,
                                      GOAL_APP_ASM_SIZE_INPUT);

goal_eipAssemblyObjectGet

Get the pointer to the data array of an assembly.

Table: goal_eipAssemblyObjectGet parameters

uint8_t *pData;   /* assembly data */
uint32_t len;     /* assembly data length */

res = goal_eipAssemblyObjectGet(pHdlEip, GOAL_APP_ASM_ID_INPUT, &pData, &len);

goal_eipAddExclusiveOwnerConnection

Create one Exclusive Owner connection with producing and consuming endpoints.

Table: goal_eipAddExclusiveOwnerConnection parameters

res = goal_eipAddExclusiveOwnerConnection(pHdlEip,
                                          GOAL_APP_ASM_ID_OUTPUT,
                                          GOAL_APP_ASM_ID_INPUT,
                                          GOAL_APP_ASM_ID_CONFIG);

goal_eipAddInputOnlyConnection

Create multiple Input Only connections with the same producing and consuming endpoints.

goal_eipAddInputOnlyConnection parameters

Table: goal_eipAddInputOnlyConnection parameters

res = goal_eipAddInputOnlyConnection(pHdlEip, GOAL_APP_IOCON_NUM,
                                     GOAL_APP_ASM_ID_HEARTBEAT_IO,
                                     GOAL_APP_ASM_ID_INPUT,
                                     GOAL_APP_ASM_ID_CONFIG);

goal_eipAddListenOnlyConnection

Create multiple Listen Only connections with the same producing and consuming endpoints.

Table: goal_eipAddListenOnlyConnection parameters

res = goal_eipAddListenOnlyConnection(pHdlEip, GOAL_APP_LOCON_NUM,
                                      GOAL_APP_ASM_ID_HEARTBEAT_LO,
                                      GOAL_APP_ASM_ID_INPUT,
                                      GOAL_APP_ASM_ID_CONFIG);

goal_eipGetVersion

Get the EtherNet/IP version. Returns a GOAL_STATUS_T as result.

Table: goal_eipGetVersion parameters

char *pVersion;  /* version string */
goal_eipGetVersion(pHdlEip, &pVersion);
goal_logInfo("EtherNet/IP stack version: %s", pVersion);

goal_eipDeviceStatusSet

Set device status bits. The parameter statusBits uses the GOAL_EIP_STATUS_ macros. They can be combined with binary OR.

Table: goal_eipDeviceStatusSet parameters

res = goal_eipDeviceStatusSet(pHdlEip, GOAL_EIP_STATUS_CFGRD);

goal_eipDeviceStatusClear

Clear device status bits. All bits of statusBits will be cleared. The parameter uses the GOAL_EIP_STATUS_ macros. They can be combined with binary OR.

Table: goal_eipDeviceStatusClear parameters

res = goal_eipDeviceStatusClear(pHdlEip, GOAL_EIP_STATUS_CFGRD);

goal_eipAssemblyObjectWrite

Write data to an Assembly Object.

Table: goal_eipAssemblyObjectWrite parameters

res = goal_eipDeviceStatusClear(pHdlEip, GOAL_EIP_STATUS_CFGRD);

goal_eipAssemblyObjectRead

Read data from an Assembly Object.

Table: goal_eipAssemblyObjectRead parameters

res =  goal_eipAssemblyObjectRead(pHdlEip, 150, pRdBuf, 32);

goal_eipIdentitySerialNumberSet

Set the serial number of the device. Each device must have a unique serial number. This function updates the Identity instance attribute, i.e. it changes the Serial Number after the EtherNet/IP instance has been created.

Table: goal_eipIdentitySerialNumberSet parameters

res = goal_eipIdentitySerialNumberSet (pHdlEip, 12345);