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_fmmu_t
	FMMU configuration. More...
struct	ec_eeprom_string_t
	String object (EEPROM). More...
struct	ec_eeprom_sync_t
	Sync manager configuration (EEPROM). More...
struct	ec_eeprom_pdo_t
	PDO description (EEPROM). More...
struct	ec_eeprom_pdo_entry_t
	PDO entry description (EEPROM). More...
struct	ec_sdo_t
	CANopen SDO. More...
struct	ec_sdo_entry_t
	CANopen SDO entry. More...
struct	ec_varsize_t
	Variable-sized field information. 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_ACK = 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_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_clear (struct kobject *)
	Slave destructor.
int	ec_slave_fetch (ec_slave_t *)
	Reads all necessary information from a slave.
int	ec_slave_sii_read16 (ec_slave_t *, uint16_t, uint16_t *)
	Reads 16 bit from the slave information interface (SII).
int	ec_slave_sii_read32 (ec_slave_t *, uint16_t, uint32_t *)
	Reads 32 bit from the slave information interface (SII).
int	ec_slave_sii_write16 (ec_slave_t *, uint16_t, uint16_t)
	Writes 16 bit of data to the slave information interface (SII).
int	ec_slave_state_change (ec_slave_t *, uint8_t)
	Does a state transition.
int	ec_slave_prepare_fmmu (ec_slave_t *, const ec_domain_t *, const ec_sync_t *)
	Prepares an FMMU configuration.
int	ec_slave_fetch_sdo_list (ec_slave_t *)
	Fetches the SDO dictionary of a slave.
int	ec_slave_fetch_strings (ec_slave_t *, const uint8_t *)
	Fetches data from a STRING category.
int	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_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.
size_t	ec_slave_calc_sync_size (const ec_slave_t *, const ec_sync_t *)
uint16_t	ec_slave_calc_eeprom_sync_size (const ec_slave_t *, const ec_eeprom_sync_t *)
	Calculates the size of a sync manager by evaluating PDO sizes.
void	ec_slave_print (const ec_slave_t *, unsigned int)
	Outputs all information about a certain slave.
int	ec_slave_check_crc (ec_slave_t *)
	Outputs the values of the CRC faoult counters and resets them.

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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_ACK  Acknoledge bit (no state). Definition at line 57 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 80 of file slave.h.

enum ec_pdo_type_t

PDO type. Enumerator: EC_RX_PDO  Reveive PDO. EC_TX_PDO  Transmit PDO. Definition at line 141 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 107 of file slave.c.

int ec_slave_fetch (  ec_slave_t *  slave  )

Reads all necessary information from a slave. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave Definition at line 260 of file slave.c.

int ec_slave_sii_read16 (  ec_slave_t *  slave, uint16_t  offset, uint16_t *  target )

Reads 16 bit from the slave information interface (SII). Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave offset  address of the SII register to read target  target memory Definition at line 339 of file slave.c.

int ec_slave_sii_read32 (  ec_slave_t *  slave, uint16_t  offset, uint32_t *  target )

Reads 32 bit from the slave information interface (SII). Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave offset  address of the SII register to read target  target memory Definition at line 400 of file slave.c.

int ec_slave_sii_write16 (  ec_slave_t *  slave, uint16_t  offset, uint16_t  value )

Writes 16 bit of data to the slave information interface (SII). Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave offset  address of the SII register to write value  new value Definition at line 461 of file slave.c.

int ec_slave_state_change (  ec_slave_t *  slave, uint8_t  state )

Does a state transition. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave state  new state Definition at line 931 of file slave.c.

int ec_slave_prepare_fmmu (  ec_slave_t *  slave, const ec_domain_t *  domain, const ec_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 arce 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 1009 of file slave.c.

int ec_slave_fetch_sdo_list (  ec_slave_t *  slave  )

Fetches the SDO dictionary of a slave. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave Definition at line 270 of file canopen.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 625 of file slave.c.

int 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 663 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 692 of file slave.c.

int ec_slave_fetch_pdo (  ec_slave_t *  slave, const uint8_t *  data, size_t  word_count, ec_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 728 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 790 of file slave.c.

size_t ec_slave_calc_sync_size (  const ec_slave_t *  slave, const ec_sync_t *  sync )

Returns: size of sync manager contents Parameters: slave  EtherCAT slave sync  sync manager Definition at line 1465 of file slave.c.

uint16_t ec_slave_calc_eeprom_sync_size (  const ec_slave_t *  slave, const ec_eeprom_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 1503 of file slave.c.

void ec_slave_print (  const ec_slave_t *  slave, unsigned int  verbosity )

Outputs all information about a certain slave. Verbosity: 0: Only slave types and addresses 1: with EEPROM information >1: with SDO dictionaries Parameters: slave  EtherCAT slave verbosity  verbosity level Definition at line 1047 of file slave.c.

int ec_slave_check_crc (  ec_slave_t *  slave  )

Outputs the values of the CRC faoult counters and resets them. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave Definition at line 1212 of file slave.c.

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