slave.c File Reference

Detailed Description

EtherCAT slave methods.

Definition in file slave.c.

Go to the source code of this file.

Functions

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

Formats attribute data for SysFS read access.

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

Formats attribute data for SysFS write access.

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

Slave constructor.

void ec_slave_clear (struct kobject *kobj)

Slave destructor.

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

Fetches data from a STRING category.

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

Fetches data from a GENERAL category.

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

Fetches data from a SYNC MANAGER category.

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.

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.

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

Prepares an FMMU configuration.

size_t ec_slave_info (const ec_slave_t *slave, char *buffer)

Outputs all information about a certain slave.

ssize_t ec_slave_write_eeprom (ec_slave_t *slave, const uint8_t *data, size_t size)

Schedules an EEPROM write operation.

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.

int ec_slave_is_coupler (const ec_slave_t *slave)

int ec_slave_conf_sdo (ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, const uint8_t *data, size_t size)

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)

Variables

const ec_code_msg_t al_status_messages []

Application layer status messages.

Function Documentation

ssize_t ec_show_slave_attribute ( struct kobject * kobj,

struct attribute * attr,

char * buffer

)

Formats attribute data for SysFS read access.

Returns:
number of bytes to read

Parameters:

kobj slave's kobject

attr attribute

buffer memory to store data

Definition at line 733 of file slave.c.

ssize_t ec_store_slave_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 781 of file slave.c.

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 94 of file slave.c.

void ec_slave_clear ( struct kobject * kobj )

Slave destructor.

Parameters:

kobj kobject of the slave

Definition at line 177 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 260 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 298 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 321 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 357 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 419 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 475 of file slave.c.

size_t ec_slave_info ( const ec_slave_t * slave,

char * buffer

)

Outputs all information about a certain slave.

Parameters:

slave EtherCAT slave

buffer Output buffer

Definition at line 509 of file slave.c.

ssize_t ec_slave_write_eeprom ( ec_slave_t * slave,

const uint8_t * data,

size_t size

)

Schedules an EEPROM write operation.

Returns:
0 in case of success, else < 0

Parameters:

slave EtherCAT slave

data new EEPROM data

size size of data in bytes

Definition at line 656 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 825 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 858 of file slave.c.

int ec_slave_conf_sdo ( ec_slave_t * slave,

uint16_t sdo_index,

uint8_t sdo_subindex,

const uint8_t * data,

size_t size

)

Returns:
0 in case of success, else < 0

Parameters:

slave EtherCAT slave

sdo_index SDO index

sdo_subindex SDO subindex

data SDO data

size SDO size in bytes

Definition at line 871 of file slave.c.

Generated on Fri Sep 1 14:56:57 2006 for IgH EtherCAT master by

1.4.6


Functions
ssize_t	ec_show_slave_attribute (struct kobject kobj,struct attribute attr,char *buffer)
	Formats attribute data for SysFS read access.
ssize_t	ec_store_slave_attribute (struct kobject kobj,struct attribute attr,const char *buffer,size_t size)
	Formats attribute data for SysFS write access.
int	ec_slave_init (ec_slave_t slave, ec_master_t master, uint16_t ring_position, uint16_t station_address)
	Slave constructor.
void	ec_slave_clear (struct kobject *kobj)
	Slave destructor.
int	ec_slave_fetch_strings (ec_slave_t slave, const uint8_t data)
	Fetches data from a STRING category.
void	ec_slave_fetch_general (ec_slave_t slave, const uint8_t data)
	Fetches data from a GENERAL category.
int	ec_slave_fetch_sync (ec_slave_t slave, const uint8_t data, size_t word_count)
	Fetches data from a SYNC MANAGER category.
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.
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.
int	ec_slave_prepare_fmmu (ec_slave_t slave, const ec_domain_t domain, const ec_sii_sync_t *sync)
	Prepares an FMMU configuration.
size_t	ec_slave_info (const ec_slave_t slave, char buffer)
	Outputs all information about a certain slave.
ssize_t	ec_slave_write_eeprom (ec_slave_t slave, const uint8_t data, size_t size)
	Schedules an EEPROM write operation.
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.
int	ec_slave_is_coupler (const ec_slave_t *slave)
int	ec_slave_conf_sdo (ec_slave_t slave, uint16_t sdo_index, uint8_t sdo_subindex, const uint8_t data, size_t size)
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)
Variables
const ec_code_msg_t	al_status_messages []
	Application layer status messages.