EtherCAT realtime interface

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Detailed Description

EtherCAT interface for realtime modules.

This interface is designed for realtime modules that want to use EtherCAT. There are functions to request a master, to map process data, to communicate with slaves via CoE and to configure and activate the bus.

Functions
ec_slave_t *	ecrt_domain_register_pdo (ec_domain_t *domain, const char *address, uint32_t vendor_id, uint32_t product_code, uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr)
	Registers a PDO in a domain.
int	ecrt_domain_register_pdo_list (ec_domain_t *domain, const ec_pdo_reg_t *pdos)
	Registeres a bunch of data fields.
void	ecrt_domain_process (ec_domain_t *domain)
	Processes received process data and requeues the domain datagram(s).
int	ecrt_domain_state (const ec_domain_t *domain)
	Returns the state of a domain.
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.
void	ecrt_master_send (ec_master_t *master)
	Asynchronous sending of datagrams.
void	ecrt_master_receive (ec_master_t *master)
	Asynchronous receiving of datagrams.
void	ecrt_master_prepare (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.
ec_master_t *	ecrt_request_master (unsigned int master_index)
	Reserves an EtherCAT master for realtime operation.
void	ecrt_release_master (ec_master_t *master)
	Releases a reserved EtherCAT master.
int	ecrt_slave_conf_sdo8 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint8_t value)
int	ecrt_slave_conf_sdo16 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint16_t value)
int	ecrt_slave_conf_sdo32 (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint32_t value)
int	ecrt_slave_pdo_size (ec_slave_t *slave, uint16_t pdo_index, uint8_t pdo_subindex, size_t size)

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Function Documentation

ec_slave_t* ecrt_domain_register_pdo (  ec_domain_t *  domain, const char *  address, uint32_t  vendor_id, uint32_t  product_code, uint16_t  pdo_index, uint8_t  pdo_subindex, void **  data_ptr )

Registers a PDO in a domain. If data_ptr is NULL, the slave is only validated. Returns: pointer to the slave on success, else NULL Parameters: domain  EtherCAT domain address  ASCII address of the slave, see ecrt_master_get_slave() vendor_id  vendor ID product_code  product code pdo_index  PDO index pdo_subindex  PDO subindex data_ptr  address of the process data pointer Definition at line 416 of file domain.c.

int ecrt_domain_register_pdo_list (  ec_domain_t *  domain, const ec_pdo_reg_t *  pdos )

Registeres a bunch of data fields. Caution! The list has to be terminated with a NULL structure ({})! Returns: 0 in case of success, else < 0 Parameters: domain  EtherCAT domain pdos  array of PDO registrations Definition at line 485 of file domain.c.

void ecrt_domain_process (  ec_domain_t *  domain  )

Processes received process data and requeues the domain datagram(s). Parameters: domain  EtherCAT domain Definition at line 512 of file domain.c.

int ecrt_domain_state (  const ec_domain_t *  domain  )

Returns the state of a domain. Returns: 0 if all datagrams were received, else -1. Parameters: domain  EtherCAT domain Definition at line 555 of file domain.c.

ec_domain_t* ecrt_master_create_domain (  ec_master_t *  master  )

Creates a domain. Returns: pointer to new domain on success, else NULL Parameters: master  master Definition at line 1112 of file master.c.

int ecrt_master_activate (  ec_master_t *  master  )

Configures all slaves and leads them to the OP state. Does the complete configuration and activation for all slaves. Sets sync managers and FMMUs, and does the appropriate transitions, until the slave is operational. Returns: 0 in case of success, else < 0 Parameters: master  EtherCAT master Definition at line 1158 of file master.c.

void ecrt_master_deactivate (  ec_master_t *  master  )

Resets all slaves to INIT state. Parameters: master  EtherCAT master Definition at line 1209 of file master.c.

void ecrt_master_send (  ec_master_t *  master  )

Asynchronous sending of datagrams. Parameters: master  EtherCAT master Definition at line 1262 of file master.c.

void ecrt_master_receive (  ec_master_t *  master  )

Asynchronous receiving of datagrams. Parameters: master  EtherCAT master Definition at line 1289 of file master.c.

void ecrt_master_prepare (  ec_master_t *  master  )

Prepares synchronous IO. Queues all domain datagrams and sends them. Then waits a certain time, so that ecrt_master_receive() can be called securely. Parameters: master  EtherCAT master Definition at line 1326 of file master.c.

void ecrt_master_run (  ec_master_t *  master  )

Does all cyclic master work. Parameters: master  EtherCAT master Definition at line 1354 of file master.c.

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. These are the valid addressing schemes: "X" = the X. slave on the bus, "X:Y" = the Y. slave after the X. branch (bus coupler), "#X" = the slave with alias X, "#X:Y" = the Y. slave after the branch (bus coupler) with alias X. X and Y are zero-based indices and may be provided in hexadecimal or octal notation (with respective prefix). Returns: pointer to the slave on success, else NULL Parameters: master  Master address  address string Definition at line 1378 of file master.c.

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

Sets the locking callbacks. The request_cb function must return zero, to allow another instance (the EoE process for example) to access the master. Non-zero means, that access is forbidden at this time. Parameters: master  EtherCAT master request_cb  request lock CB release_cb  release lock CB cb_data  data parameter Definition at line 1480 of file master.c.

ec_master_t* ecrt_request_master (  unsigned int  master_index  )

Reserves an EtherCAT master for realtime operation. Returns: pointer to reserved master, or NULL on error Parameters: master_index  master index Definition at line 407 of file module.c.

void ecrt_release_master (  ec_master_t *  master  )

Releases a reserved EtherCAT master. Parameters: master  EtherCAT master Definition at line 466 of file module.c.

int ecrt_slave_conf_sdo8 (  ec_slave_t *  slave, uint16_t  sdo_index, uint8_t  sdo_subindex, uint8_t  value )

Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave sdo_index  SDO index sdo_subindex  SDO subindex value  new SDO value Definition at line 915 of file slave.c.

int ecrt_slave_conf_sdo16 (  ec_slave_t *  slave, uint16_t  sdo_index, uint8_t  sdo_subindex, uint16_t  value )

Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave sdo_index  SDO index sdo_subindex  SDO subindex value  new SDO value Definition at line 933 of file slave.c.

int ecrt_slave_conf_sdo32 (  ec_slave_t *  slave, uint16_t  sdo_index, uint8_t  sdo_subindex, uint32_t  value )

Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave sdo_index  SDO index sdo_subindex  SDO subindex value  new SDO value Definition at line 951 of file slave.c.

int ecrt_slave_pdo_size (  ec_slave_t *  slave, uint16_t  pdo_index, uint8_t  pdo_subindex, size_t  size )

Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave pdo_index  PDO index pdo_subindex  PDO subindex size  new PDO size Definition at line 969 of file slave.c.

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