master.c File Reference

Detailed Description

EtherCAT master methods.

Definition in file master.c.

Go to the source code of this file.

Functions

void ec_master_idle_run (void *data)

Idle mode function.

void ec_master_eoe_run (unsigned long data)

Does the Ethernet-over-EtherCAT processing.

ssize_t ec_show_master_attribute (struct kobject *kobj,struct attribute *attr,char *buffer)

Formats attribute data for SysFS read access.

ssize_t ec_store_master_attribute (struct kobject *kobj,struct attribute *attr,const char *buffer,size_t size)

Formats attribute data for SysFS write access.

int ec_master_init (ec_master_t *master, unsigned int index, unsigned int eoeif_count)

Master constructor.

void ec_master_clear (struct kobject *kobj)

Master destructor.

void ec_master_reset (ec_master_t *master)

Resets the master.

void ec_master_clear_slaves (ec_master_t *master)

Clears all slaves.

void ec_master_queue_datagram (ec_master_t *master, ec_datagram_t *datagram)

Places a datagram in the datagram queue.

void ec_master_send_datagrams (ec_master_t *master)

Sends the datagrams in the queue.

void ec_master_receive (ec_master_t *master, const uint8_t *frame_data, size_t size)

Processes a received frame.

int ec_master_simple_io (ec_master_t *master, ec_datagram_t *datagram)

Sends a single datagram and waits for its reception.

int ec_master_bus_scan (ec_master_t *master)

Scans the EtherCAT bus for slaves.

void ec_master_output_stats (ec_master_t *master)

Output statistics in cyclic mode.

void ec_master_idle_start (ec_master_t *master)

Starts the Idle mode.

void ec_master_idle_stop (ec_master_t *master)

Stops the Idle mode.

void ec_sync_config (const ec_sync_t *sync, const ec_slave_t *slave, uint8_t *data)

Initializes a sync manager configuration page.

void ec_eeprom_sync_config (const ec_eeprom_sync_t *sync, const ec_slave_t *slave, uint8_t *data)

Initializes a sync manager configuration page with EEPROM data.

void ec_fmmu_config (const ec_fmmu_t *fmmu, const ec_slave_t *slave, uint8_t *data)

Initializes an FMMU configuration page.

void ec_master_eoe_start (ec_master_t *master)

Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.

void ec_master_eoe_stop (ec_master_t *master)

Stops the Ethernet-over-EtherCAT processing.

ec_domain_t * ecrt_master_create_domain (ec_master_t *master)

Creates a domain.

int ecrt_master_activate (ec_master_t *master)

Configures all slaves and leads them to the OP state.

void ecrt_master_deactivate (ec_master_t *master)

Resets all slaves to INIT state.

int ecrt_master_fetch_sdo_lists (ec_master_t *master)

Fetches the SDO dictionaries of all slaves.

void ecrt_master_sync_io (ec_master_t *master)

Sends queued datagrams and waits for their reception.

void ecrt_master_async_send (ec_master_t *master)

Asynchronous sending of datagrams.

void ecrt_master_async_receive (ec_master_t *master)

Asynchronous receiving of datagrams.

void ecrt_master_prepare_async_io (ec_master_t *master)

Prepares synchronous IO.

void ecrt_master_run (ec_master_t *master)

Does all cyclic master work.

ec_slave_t * ecrt_master_get_slave (const ec_master_t *master, const char *address)

Translates an ASCII coded bus-address to a slave pointer.

void ecrt_master_callbacks (ec_master_t *master, int(*request_cb)(void *), void(*release_cb)(void *), void *cb_data)

Sets the locking callbacks.

int ecrt_master_start_eoe (ec_master_t *master)

Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.

void ecrt_master_debug (ec_master_t *master, int level)

Sets the debug level of the master.

void ecrt_master_print (const ec_master_t *master, unsigned int verbosity)

Outputs all master information.

Function Documentation

void ec_master_idle_run ( void * )

Idle mode function.

Parameters:

data master pointer

Definition at line 727 of file master.c.

void ec_master_eoe_run ( unsigned long )

Does the Ethernet-over-EtherCAT processing.

Parameters:

data master pointer

Definition at line 1017 of file master.c.

ssize_t ec_show_master_attribute ( struct kobject * kobj,

struct attribute * attr,

char * buffer

)

Formats attribute data for SysFS read access.

Returns:
number of bytes to read

Parameters:

kobj kobject

attr attribute

buffer memory to store data

Definition at line 836 of file master.c.

ssize_t ec_store_master_attribute ( struct kobject * kobj,

struct attribute * attr,

const char * buffer,

size_t size

)

Formats attribute data for SysFS write access.

Returns:
number of bytes processed, or negative error code

Parameters:

kobj slave's kobject

attr attribute

buffer memory with data

size size of data to store

Definition at line 873 of file master.c.

int ec_master_init ( ec_master_t * master,

unsigned int index,

unsigned int eoeif_count

)

Master constructor.

Returns:
0 in case of success, else < 0

Parameters:

master EtherCAT master

index master index

eoeif_count number of EoE interfaces

Definition at line 101 of file master.c.

void ec_master_clear ( struct kobject * kobj )

Master destructor.
Removes all pending datagrams, clears the slave list, clears all domains and frees the device.
Parameters:

kobj kobject of the master

Definition at line 180 of file master.c.

void ec_master_reset ( ec_master_t * master )

Resets the master.
Note: This function has to be called, everytime ec_master_release() is called, to free the slave list, domains etc.
Parameters:

master EtherCAT master

Definition at line 215 of file master.c.

void ec_master_queue_datagram ( ec_master_t * master,

ec_datagram_t * datagram

)

Places a datagram in the datagram queue.

Parameters:

master EtherCAT master

datagram datagram

Definition at line 283 of file master.c.

void ec_master_send_datagrams ( ec_master_t * master )

Sends the datagrams in the queue.

Returns:
0 in case of success, else < 0

Parameters:

master EtherCAT master

Definition at line 310 of file master.c.

void ec_master_receive ( ec_master_t * master,

const uint8_t * frame_data,

size_t size

)

Processes a received frame.
This function is called by the network driver for every received frame.
Returns:
0 in case of success, else < 0

Parameters:

master EtherCAT master

frame_data received data

size size of the received data

Definition at line 411 of file master.c.

int ec_master_simple_io ( ec_master_t * master,

ec_datagram_t * datagram

)

Sends a single datagram and waits for its reception.
If the slave doesn't respond, the datagram is sent again.
Returns:
0 in case of success, else < 0

Parameters:

master EtherCAT master

datagram datagram

Definition at line 498 of file master.c.

int ec_master_bus_scan ( ec_master_t * master )

Scans the EtherCAT bus for slaves.
Creates a list of slave structures for further processing.
Returns:
0 in case of success, else < 0

Parameters:

master EtherCAT master

Definition at line 542 of file master.c.

void ec_master_output_stats ( ec_master_t * master )

Output statistics in cyclic mode.
This function outputs statistical data on demand, but not more often than necessary. The output happens at most once a second.
Parameters:

master EtherCAT master

Definition at line 650 of file master.c.

void ec_master_idle_start ( ec_master_t * master )

Starts the Idle mode.

Parameters:

master EtherCAT master

Definition at line 681 of file master.c.

void ec_master_idle_stop ( ec_master_t * master )

Stops the Idle mode.

Parameters:

master EtherCAT master

Definition at line 703 of file master.c.

void ec_sync_config ( const ec_sync_t * sync,

const ec_slave_t * slave,

uint8_t * data

)

Initializes a sync manager configuration page.
The referenced memory (data) must be at least EC_SYNC_SIZE bytes.
Parameters:

sync sync manager

slave EtherCAT slave

data > configuration memory

Definition at line 755 of file master.c.

void ec_eeprom_sync_config ( const ec_eeprom_sync_t * sync,

const ec_slave_t * slave,

uint8_t * data

)

Initializes a sync manager configuration page with EEPROM data.
The referenced memory (data) must be at least EC_SYNC_SIZE bytes.
Parameters:

sync sync manager

slave EtherCAT slave

data > configuration memory

Definition at line 778 of file master.c.

void ec_fmmu_config ( const ec_fmmu_t * fmmu,

const ec_slave_t * slave,

uint8_t * data

)

Initializes an FMMU configuration page.
The referenced memory (data) must be at least EC_FMMU_SIZE bytes.
Parameters:

fmmu FMMU

slave EtherCAT slave

data > configuration memory

Definition at line 809 of file master.c.

void ec_master_eoe_start ( ec_master_t * master )

Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.

Parameters:

master EtherCAT master

Definition at line 928 of file master.c.

void ec_master_eoe_stop ( ec_master_t * master )

Stops the Ethernet-over-EtherCAT processing.

Parameters:

master EtherCAT master

Definition at line 990 of file master.c.

Generated on Wed Aug 2 18:41:44 2006 for IgH EtherCAT master by

1.4.6


Functions
void	ec_master_idle_run (void *data)
	Idle mode function.
void	ec_master_eoe_run (unsigned long data)
	Does the Ethernet-over-EtherCAT processing.
ssize_t	ec_show_master_attribute (struct kobject kobj,struct attribute attr,char *buffer)
	Formats attribute data for SysFS read access.
ssize_t	ec_store_master_attribute (struct kobject kobj,struct attribute attr,const char *buffer,size_t size)
	Formats attribute data for SysFS write access.
int	ec_master_init (ec_master_t *master, unsigned int index, unsigned int eoeif_count)
	Master constructor.
void	ec_master_clear (struct kobject *kobj)
	Master destructor.
void	ec_master_reset (ec_master_t *master)
	Resets the master.
void	ec_master_clear_slaves (ec_master_t *master)
	Clears all slaves.
void	ec_master_queue_datagram (ec_master_t master, ec_datagram_t datagram)
	Places a datagram in the datagram queue.
void	ec_master_send_datagrams (ec_master_t *master)
	Sends the datagrams in the queue.
void	ec_master_receive (ec_master_t master, const uint8_t frame_data, size_t size)
	Processes a received frame.
int	ec_master_simple_io (ec_master_t master, ec_datagram_t datagram)
	Sends a single datagram and waits for its reception.
int	ec_master_bus_scan (ec_master_t *master)
	Scans the EtherCAT bus for slaves.
void	ec_master_output_stats (ec_master_t *master)
	Output statistics in cyclic mode.
void	ec_master_idle_start (ec_master_t *master)
	Starts the Idle mode.
void	ec_master_idle_stop (ec_master_t *master)
	Stops the Idle mode.
void	ec_sync_config (const ec_sync_t sync, const ec_slave_t slave, uint8_t *data)
	Initializes a sync manager configuration page.
void	ec_eeprom_sync_config (const ec_eeprom_sync_t sync, const ec_slave_t slave, uint8_t *data)
	Initializes a sync manager configuration page with EEPROM data.
void	ec_fmmu_config (const ec_fmmu_t fmmu, const ec_slave_t slave, uint8_t *data)
	Initializes an FMMU configuration page.
void	ec_master_eoe_start (ec_master_t *master)
	Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
void	ec_master_eoe_stop (ec_master_t *master)
	Stops the Ethernet-over-EtherCAT processing.
ec_domain_t *	ecrt_master_create_domain (ec_master_t *master)
	Creates a domain.
int	ecrt_master_activate (ec_master_t *master)
	Configures all slaves and leads them to the OP state.
void	ecrt_master_deactivate (ec_master_t *master)
	Resets all slaves to INIT state.
int	ecrt_master_fetch_sdo_lists (ec_master_t *master)
	Fetches the SDO dictionaries of all slaves.
void	ecrt_master_sync_io (ec_master_t *master)
	Sends queued datagrams and waits for their reception.
void	ecrt_master_async_send (ec_master_t *master)
	Asynchronous sending of datagrams.
void	ecrt_master_async_receive (ec_master_t *master)
	Asynchronous receiving of datagrams.
void	ecrt_master_prepare_async_io (ec_master_t *master)
	Prepares synchronous IO.
void	ecrt_master_run (ec_master_t *master)
	Does all cyclic master work.
ec_slave_t *	ecrt_master_get_slave (const ec_master_t master, const char address)
	Translates an ASCII coded bus-address to a slave pointer.
void	ecrt_master_callbacks (ec_master_t master, int(request_cb)(void ), void(release_cb)(void ), void cb_data)
	Sets the locking callbacks.
int	ecrt_master_start_eoe (ec_master_t *master)
	Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
void	ecrt_master_debug (ec_master_t *master, int level)
	Sets the debug level of the master.
void	ecrt_master_print (const ec_master_t *master, unsigned int verbosity)
	Outputs all master information.