master.h File Reference

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Detailed Description

EtherCAT master structure.

Definition in file master.h.

Go to the source code of this file.

Data Structures
struct	ec_stats_t
	Cyclic statistics. More...
struct	ec_master
	EtherCAT master. More...
Enumerations
enum	ec_master_mode_t { EC_MASTER_MODE_ORPHANED, EC_MASTER_MODE_IDLE, EC_MASTER_MODE_RUNNING }
	EtherCAT master mode.
Functions
int	ec_master_init (ec_master_t *, unsigned int, unsigned int)
	Master constructor.
void	ec_master_clear (struct kobject *)
	Master destructor.
void	ec_master_reset (ec_master_t *)
	Resets the master.
void	ec_master_idle_start (ec_master_t *)
	Starts the Idle mode.
void	ec_master_idle_stop (ec_master_t *)
	Stops the Idle mode.
void	ec_master_eoe_start (ec_master_t *)
	Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
void	ec_master_eoe_stop (ec_master_t *)
	Stops the Ethernet-over-EtherCAT processing.
void	ec_master_receive (ec_master_t *, const uint8_t *, size_t)
	Processes a received frame.
void	ec_master_queue_datagram (ec_master_t *, ec_datagram_t *)
	Places a datagram in the datagram queue.
int	ec_master_simple_io (ec_master_t *, ec_datagram_t *)
	Sends a single datagram and waits for its reception.
int	ec_master_bus_scan (ec_master_t *)
	Scans the EtherCAT bus for slaves.
void	ec_master_clear_slaves (ec_master_t *)
	Clears all slaves.
void	ec_sync_config (const ec_sync_t *, const ec_slave_t *, uint8_t *)
	Initializes a sync manager configuration page.
void	ec_eeprom_sync_config (const ec_eeprom_sync_t *, const ec_slave_t *, uint8_t *)
	Initializes a sync manager configuration page with EEPROM data.
void	ec_fmmu_config (const ec_fmmu_t *, const ec_slave_t *, uint8_t *)
	Initializes an FMMU configuration page.
void	ec_master_output_stats (ec_master_t *)
	Output statistics in cyclic mode.

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Function Documentation

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_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_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_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.

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