slave.h File Reference

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Detailed Description

EtherCAT stave structure.

Definition in file slave.h.

Go to the source code of this file.

Data Structures
struct	ec_sii_string_t
	String object (EEPROM). More...
struct	ec_sii_sync_t
	Sync manager configuration (EEPROM). More...
struct	ec_sii_pdo_t
	PDO description (EEPROM). More...
struct	ec_sii_pdo_entry_t
	PDO entry description (EEPROM). More...
struct	ec_fmmu_t
	FMMU configuration. More...
struct	ec_slave
	EtherCAT slave. More...
Enumerations
enum	ec_slave_state_t {   EC_SLAVE_STATE_UNKNOWN = 0x00, EC_SLAVE_STATE_INIT = 0x01, EC_SLAVE_STATE_PREOP = 0x02, EC_SLAVE_STATE_SAVEOP = 0x04,   EC_SLAVE_STATE_OP = 0x08, EC_SLAVE_STATE_ACK_ERR = 0x10 }
	State of an EtherCAT slave. More...
enum	{   EC_MBOX_AOE = 0x01, EC_MBOX_EOE = 0x02, EC_MBOX_COE = 0x04, EC_MBOX_FOE = 0x08,   EC_MBOX_SOE = 0x10, EC_MBOX_VOE = 0x20 }
	Supported mailbox protocols. More...
enum	ec_sii_pdo_type_t { EC_RX_PDO, EC_TX_PDO }
	PDO type. More...
Functions
int	ec_slave_init (ec_slave_t *, ec_master_t *, uint16_t, uint16_t)
	Slave constructor.
void	ec_slave_destroy (ec_slave_t *)
	Slave destructor.
void	ec_slave_reset (ec_slave_t *)
	Reset slave from operation mode.
int	ec_slave_prepare_fmmu (ec_slave_t *, const ec_domain_t *, const ec_sii_sync_t *)
	Prepares an FMMU configuration.
void	ec_slave_request_state (ec_slave_t *, ec_slave_state_t)
int	ec_slave_fetch_strings (ec_slave_t *, const uint8_t *)
	Fetches data from a STRING category.
void	ec_slave_fetch_general (ec_slave_t *, const uint8_t *)
	Fetches data from a GENERAL category.
int	ec_slave_fetch_sync (ec_slave_t *, const uint8_t *, size_t)
	Fetches data from a SYNC MANAGER category.
int	ec_slave_fetch_pdo (ec_slave_t *, const uint8_t *, size_t, ec_sii_pdo_type_t)
	Fetches data from a [RT]XPDO category.
int	ec_slave_locate_string (ec_slave_t *, unsigned int, char **)
	Searches the string list for an index and allocates a new string.
uint16_t	ec_slave_calc_sync_size (const ec_slave_t *, const ec_sii_sync_t *)
	Calculates the size of a sync manager by evaluating PDO sizes.
int	ec_slave_is_coupler (const ec_slave_t *)
int	ec_slave_has_subbus (const ec_slave_t *)
int	ec_slave_validate (const ec_slave_t *, uint32_t, uint32_t)
void	ec_slave_sdo_dict_info (const ec_slave_t *, unsigned int *, unsigned int *)
	Counts the total number of SDOs and entries in the dictionary.

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Enumeration Type Documentation

enum ec_slave_state_t

State of an EtherCAT slave. Enumerator: EC_SLAVE_STATE_UNKNOWN  unknown state EC_SLAVE_STATE_INIT  INIT state (no mailbox communication, no IO). EC_SLAVE_STATE_PREOP  PREOP state (mailbox communication, no IO). EC_SLAVE_STATE_SAVEOP  SAVEOP (mailbox communication and input update). EC_SLAVE_STATE_OP  OP (mailbox communication and input/output update). EC_SLAVE_STATE_ACK_ERR  Acknowledge/Error bit (no actual state). Definition at line 58 of file slave.h.

anonymous enum

Supported mailbox protocols. Enumerator: EC_MBOX_AOE  ADS-over-EtherCAT. EC_MBOX_EOE  Ethernet-over-EtherCAT. EC_MBOX_COE  CANopen-over-EtherCAT. EC_MBOX_FOE  File-Access-over-EtherCAT. EC_MBOX_SOE  Servo-Profile-over-EtherCAT. EC_MBOX_VOE  Vendor specific. Definition at line 81 of file slave.h.

enum ec_sii_pdo_type_t

PDO type. Enumerator: EC_RX_PDO  Reveive PDO. EC_TX_PDO  Transmit PDO. Definition at line 131 of file slave.h.

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Function Documentation

int ec_slave_init (  ec_slave_t *  slave, ec_master_t *  master, uint16_t  ring_position, uint16_t  station_address )

Slave constructor. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave master  EtherCAT master ring_position  ring position station_address  station address to configure Definition at line 100 of file slave.c.

void ec_slave_destroy (  ec_slave_t *  slave  )

Slave destructor. Clears and frees a slave object. Parameters: slave  EtherCAT slave Definition at line 210 of file slave.c.

int ec_slave_prepare_fmmu (  ec_slave_t *  slave, const ec_domain_t *  domain, const ec_sii_sync_t *  sync )

Prepares an FMMU configuration. Configuration data for the FMMU is saved in the slave structure and is written to the slave in ecrt_master_activate(). The FMMU configuration is done in a way, that the complete data range of the corresponding sync manager is covered. Seperate FMMUs are configured for each domain. If the FMMU configuration is already prepared, the function returns with success. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave domain  domain sync  sync manager Definition at line 568 of file slave.c.

int ec_slave_fetch_strings (  ec_slave_t *  slave, const uint8_t *  data )

Fetches data from a STRING category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data Definition at line 349 of file slave.c.

void ec_slave_fetch_general (  ec_slave_t *  slave, const uint8_t *  data )

Fetches data from a GENERAL category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data Definition at line 387 of file slave.c.

int ec_slave_fetch_sync (  ec_slave_t *  slave, const uint8_t *  data, size_t  word_count )

Fetches data from a SYNC MANAGER category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data word_count  number of words Definition at line 410 of file slave.c.

int ec_slave_fetch_pdo (  ec_slave_t *  slave, const uint8_t *  data, size_t  word_count, ec_sii_pdo_type_t  pdo_type )

Fetches data from a [RT]XPDO category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data word_count  number of words pdo_type  PDO type Definition at line 448 of file slave.c.

int ec_slave_locate_string (  ec_slave_t *  slave, unsigned int  index, char **  ptr )

Searches the string list for an index and allocates a new string. Returns: 0 in case of success, else < 0 Todo: documentation Parameters: slave  EtherCAT slave index  string index ptr  Address of the string pointer Definition at line 510 of file slave.c.

uint16_t ec_slave_calc_sync_size (  const ec_slave_t *  slave, const ec_sii_sync_t *  sync )

Calculates the size of a sync manager by evaluating PDO sizes. Returns: sync manager size Parameters: slave  EtherCAT slave sync  sync manager Definition at line 944 of file slave.c.

int ec_slave_is_coupler (  const ec_slave_t *  slave  )

Returns: non-zero if slave is a bus coupler Parameters: slave  EtherCAT slave Definition at line 980 of file slave.c.

int ec_slave_has_subbus (  const ec_slave_t *  slave  )

Returns: non-zero if slave is a bus coupler Parameters: slave  EtherCAT slave Definition at line 993 of file slave.c.

int ec_slave_validate (  const ec_slave_t *  slave, uint32_t  vendor_id, uint32_t  product_code )

Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave vendor_id  vendor ID product_code  product code Definition at line 1046 of file slave.c.

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