Interface for configuring the EtherCAT master for realtime applications. More...

Data Structures
struct	ec_master_state_t
	Master state. More...

struct	ec_master_link_state_t
	Redundant link state. More...

struct	ec_slave_config_state_t
	Slave configuration state. More...

struct	ec_master_info_t
	Master information. More...

struct	ec_master_scan_progress_t
	Master scan progress information. More...

struct	ec_slave_port_link_t
	EtherCAT slave port information. More...

struct	ec_slave_info_t
	Slave information. More...

struct	ec_domain_state_t
	Domain state. More...

struct	ec_pdo_entry_info_t
	PDO entry configuration information. More...

struct	ec_pdo_info_t
	PDO configuration information. More...

struct	ec_sync_info_t
	Sync manager configuration information. More...

struct	ec_pdo_entry_reg_t
	List record type for PDO entry mass-registration. More...

Macros
#define	ECRT_VER_MAJOR 1
	EtherCAT realtime interface major version number.

#define	ECRT_VER_MINOR 6
	EtherCAT realtime interface minor version number.

#define	ECRT_VERSION(a, b) (((a) << 8) + (b))
	EtherCAT realtime interface version word generator.

#define	ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
	EtherCAT realtime interface version word.

#define	EC_HAVE_REDUNDANCY
	Defined, if the redundancy features are available. More...

#define	EC_HAVE_EMERGENCY
	Defined, if the CoE emergency ring feature is available. More...

#define	EC_HAVE_REG_ACCESS
	Defined, if the register access interface is available. More...

#define	EC_HAVE_SELECT_REF_CLOCK
	Defined if the method ecrt_master_select_reference_clock() is available.

#define	EC_HAVE_REF_CLOCK_TIME
	Defined if the method ecrt_master_reference_clock_time() is available.

#define	EC_HAVE_REG_BY_POS
	Defined if the method ecrt_slave_config_reg_pdo_entry_pos() is available.

#define	EC_HAVE_SYNC_TO
	Defined if the method ecrt_master_sync_reference_clock_to() is available.

#define	EC_HAVE_FLAGS
	Defined if the method ecrt_slave_config_flag() is available.

#define	EC_HAVE_SOE_REQUESTS
	Defined if the methods ecrt_slave_config_create_soe_request(), ecrt_soe_request_object(), ecrt_soe_request_timeout(), ecrt_soe_request_data(), ecrt_soe_request_data_size(), ecrt_soe_request_state(), ecrt_soe_request_write() and ecrt_soe_request_read() and the datatype ec_soe_request_t are available.

#define	EC_HAVE_SCAN_PROGRESS
	Defined, if the method ecrt_master_scan_progress() and the ec_master_scan_progress_t sttucture are available.

#define	EC_PUBLIC_API
	Symbol visibility control macro.

#define	EC_END ~0U
	End of list marker. More...

#define	EC_MAX_SYNC_MANAGERS 16
	Maximum number of sync managers per slave.

#define	EC_MAX_STRING_LENGTH 64
	Maximum string length. More...

#define	EC_MAX_PORTS 4
	Maximum number of slave ports. More...

#define	EC_TIMEVAL2NANO(TV) (((TV).tv_sec - 946684800ULL) * 1000000000ULL + (TV).tv_usec * 1000ULL)
	Timeval to nanoseconds conversion. More...

#define	EC_COE_EMERGENCY_MSG_SIZE 8
	Size of a CoE emergency message in byte. More...

#define	EC_READ_BIT(DATA, POS) ((((uint8_t ) (DATA)) >> (POS)) & 0x01)
	Read a certain bit of an EtherCAT data byte. More...

#define	EC_WRITE_BIT(DATA, POS, VAL)
	Write a certain bit of an EtherCAT data byte. More...

#define	EC_READ_U8(DATA) ((uint8_t) ((uint8_t ) (DATA)))
	Read an 8-bit unsigned value from EtherCAT data. More...

#define	EC_READ_S8(DATA) ((int8_t) ((uint8_t ) (DATA)))
	Read an 8-bit signed value from EtherCAT data. More...

#define	EC_READ_U16(DATA) ((uint16_t) le16_to_cpup((void *) (DATA)))
	Read a 16-bit unsigned value from EtherCAT data. More...

#define	EC_READ_S16(DATA) ((int16_t) le16_to_cpup((void *) (DATA)))
	Read a 16-bit signed value from EtherCAT data. More...

#define	EC_READ_U32(DATA) ((uint32_t) le32_to_cpup((void *) (DATA)))
	Read a 32-bit unsigned value from EtherCAT data. More...

#define	EC_READ_S32(DATA) ((int32_t) le32_to_cpup((void *) (DATA)))
	Read a 32-bit signed value from EtherCAT data. More...

#define	EC_READ_U64(DATA) ((uint64_t) le64_to_cpup((void *) (DATA)))
	Read a 64-bit unsigned value from EtherCAT data. More...

#define	EC_READ_S64(DATA) ((int64_t) le64_to_cpup((void *) (DATA)))
	Read a 64-bit signed value from EtherCAT data. More...

#define	EC_WRITE_U8(DATA, VAL)
	Write an 8-bit unsigned value to EtherCAT data. More...

#define	EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
	Write an 8-bit signed value to EtherCAT data. More...

#define	EC_WRITE_U16(DATA, VAL)
	Write a 16-bit unsigned value to EtherCAT data. More...

#define	EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
	Write a 16-bit signed value to EtherCAT data. More...

#define	EC_WRITE_U32(DATA, VAL)
	Write a 32-bit unsigned value to EtherCAT data. More...

#define	EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
	Write a 32-bit signed value to EtherCAT data. More...

#define	EC_WRITE_U64(DATA, VAL)
	Write a 64-bit unsigned value to EtherCAT data. More...

#define	EC_WRITE_S64(DATA, VAL) EC_WRITE_U64(DATA, VAL)
	Write a 64-bit signed value to EtherCAT data. More...

Typedefs
typedef struct ec_master	ec_master_t

typedef struct ec_slave_config	ec_slave_config_t

typedef struct ec_domain	ec_domain_t

typedef struct ec_sdo_request	ec_sdo_request_t

typedef struct ec_soe_request	ec_soe_request_t

typedef struct ec_voe_handler	ec_voe_handler_t

typedef struct ec_reg_request	ec_reg_request_t

Enumerations
enum	ec_slave_port_desc_t { EC_PORT_NOT_IMPLEMENTED, EC_PORT_NOT_CONFIGURED, EC_PORT_EBUS, EC_PORT_MII }
	EtherCAT slave port descriptor. More...

enum	ec_wc_state_t { EC_WC_ZERO = 0, EC_WC_INCOMPLETE, EC_WC_COMPLETE }
	Domain working counter interpretation. More...

enum	ec_direction_t { EC_DIR_INVALID, EC_DIR_OUTPUT, EC_DIR_INPUT, EC_DIR_COUNT }
	Direction type for PDO assignment functions. More...

enum	ec_watchdog_mode_t { EC_WD_DEFAULT, EC_WD_ENABLE, EC_WD_DISABLE }
	Watchdog mode for sync manager configuration. More...

enum	ec_request_state_t { EC_REQUEST_UNUSED, EC_REQUEST_BUSY, EC_REQUEST_SUCCESS, EC_REQUEST_ERROR }
	Request state. More...

enum	ec_al_state_t { EC_AL_STATE_INIT = 1, EC_AL_STATE_PREOP = 2, EC_AL_STATE_SAFEOP = 4, EC_AL_STATE_OP = 8 }
	Application-layer state. More...

Functions
EC_PUBLIC_API unsigned int	ecrt_version_magic (void)
	Returns the version magic of the realtime interface. More...

EC_PUBLIC_API ec_master_t *	ecrt_request_master (unsigned int master_index)
	Requests an EtherCAT master for realtime operation. More...

EC_PUBLIC_API void	ecrt_release_master (ec_master_t *master)
	Releases a requested EtherCAT master. More...

void	ecrt_master_callbacks (ec_master_t master, void(send_cb)(void ), void(receive_cb)(void ), void cb_data)
	Sets the locking callbacks. More...

EC_PUBLIC_API ec_domain_t *	ecrt_master_create_domain (ec_master_t *master)
	Creates a new process data domain. More...

EC_PUBLIC_API ec_slave_config_t *	ecrt_master_slave_config (ec_master_t *master, uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code)
	Obtains a slave configuration. More...

EC_PUBLIC_API int	ecrt_master_select_reference_clock (ec_master_t master, ec_slave_config_t sc)
	Selects the reference clock for distributed clocks. More...

EC_PUBLIC_API int	ecrt_master (ec_master_t master, ec_master_info_t master_info)
	Obtains master information. More...

EC_PUBLIC_API int	ecrt_master_scan_progress (ec_master_t master, ec_master_scan_progress_t progress)
	Obtains network scan progress information. More...

EC_PUBLIC_API int	ecrt_master_get_slave (ec_master_t master, uint16_t slave_position, ec_slave_info_t slave_info)
	Obtains slave information. More...

EC_PUBLIC_API int	ecrt_master_sdo_download (ec_master_t master, uint16_t slave_position, uint16_t index, uint8_t subindex, const uint8_t data, size_t data_size, uint32_t *abort_code)
	Executes an SDO download request to write data to a slave. More...

EC_PUBLIC_API int	ecrt_master_sdo_download_complete (ec_master_t master, uint16_t slave_position, uint16_t index, const uint8_t data, size_t data_size, uint32_t *abort_code)
	Executes an SDO download request to write data to a slave via complete access. More...

EC_PUBLIC_API int	ecrt_master_sdo_upload (ec_master_t master, uint16_t slave_position, uint16_t index, uint8_t subindex, uint8_t target, size_t target_size, size_t result_size, uint32_t abort_code)
	Executes an SDO upload request to read data from a slave. More...

EC_PUBLIC_API int	ecrt_master_write_idn (ec_master_t master, uint16_t slave_position, uint8_t drive_no, uint16_t idn, const uint8_t data, size_t data_size, uint16_t *error_code)
	Executes an SoE write request. More...

EC_PUBLIC_API int	ecrt_master_read_idn (ec_master_t master, uint16_t slave_position, uint8_t drive_no, uint16_t idn, uint8_t target, size_t target_size, size_t result_size, uint16_t error_code)
	Executes an SoE read request. More...

EC_PUBLIC_API int	ecrt_master_activate (ec_master_t *master)
	Finishes the configuration phase and prepares for cyclic operation. More...

EC_PUBLIC_API int	ecrt_master_deactivate (ec_master_t *master)
	Deactivates the master. More...

EC_PUBLIC_API int	ecrt_master_set_send_interval (ec_master_t *master, size_t send_interval)
	Set interval between calls to ecrt_master_send(). More...

int	ecrt_master_send_ext (ec_master_t *master)
	Sends non-application datagrams. More...

EC_PUBLIC_API int	ecrt_master_state (const ec_master_t master, ec_master_state_t state)
	Reads the current master state. More...

EC_PUBLIC_API int	ecrt_master_link_state (const ec_master_t master, unsigned int dev_idx, ec_master_link_state_t state)
	Reads the current state of a redundant link. More...

EC_PUBLIC_API int	ecrt_master_reference_clock_time (const ec_master_t master, uint32_t time)
	Get the lower 32 bit of the reference clock system time. More...

EC_PUBLIC_API int	ecrt_slave_config_sync_manager (ec_slave_config_t *sc, uint8_t sync_index, ec_direction_t direction, ec_watchdog_mode_t watchdog_mode)
	Configure a sync manager. More...

EC_PUBLIC_API int	ecrt_slave_config_watchdog (ec_slave_config_t *sc, uint16_t watchdog_divider, uint16_t watchdog_intervals)
	Configure a slave's watchdog times. More...

EC_PUBLIC_API int	ecrt_slave_config_pdo_assign_add (ec_slave_config_t *sc, uint8_t sync_index, uint16_t index)
	Add a PDO to a sync manager's PDO assignment. More...

EC_PUBLIC_API int	ecrt_slave_config_pdo_assign_clear (ec_slave_config_t *sc, uint8_t sync_index)
	Clear a sync manager's PDO assignment. More...

EC_PUBLIC_API int	ecrt_slave_config_pdo_mapping_add (ec_slave_config_t *sc, uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex, uint8_t entry_bit_length)
	Add a PDO entry to the given PDO's mapping. More...

EC_PUBLIC_API int	ecrt_slave_config_pdo_mapping_clear (ec_slave_config_t *sc, uint16_t pdo_index)
	Clear the mapping of a given PDO. More...

EC_PUBLIC_API int	ecrt_slave_config_pdos (ec_slave_config_t *sc, unsigned int n_syncs, const ec_sync_info_t syncs[])
	Specify a complete PDO configuration. More...

EC_PUBLIC_API int	ecrt_slave_config_reg_pdo_entry (ec_slave_config_t sc, uint16_t entry_index, uint8_t entry_subindex, ec_domain_t domain, unsigned int *bit_position)
	Registers a PDO entry for process data exchange in a domain. More...

EC_PUBLIC_API int	ecrt_slave_config_reg_pdo_entry_pos (ec_slave_config_t sc, uint8_t sync_index, unsigned int pdo_pos, unsigned int entry_pos, ec_domain_t domain, unsigned int *bit_position)
	Registers a PDO entry using its position. More...

EC_PUBLIC_API int	ecrt_slave_config_dc (ec_slave_config_t *sc, uint16_t assign_activate, uint32_t sync0_cycle, int32_t sync0_shift, uint32_t sync1_cycle, int32_t sync1_shift)
	Configure distributed clocks. More...

EC_PUBLIC_API int	ecrt_slave_config_sdo (ec_slave_config_t sc, uint16_t index, uint8_t subindex, const uint8_t data, size_t size)
	Add an SDO configuration. More...

EC_PUBLIC_API int	ecrt_slave_config_sdo8 (ec_slave_config_t *sc, uint16_t sdo_index, uint8_t sdo_subindex, uint8_t value)
	Add a configuration value for an 8-bit SDO. More...

EC_PUBLIC_API int	ecrt_slave_config_sdo16 (ec_slave_config_t *sc, uint16_t sdo_index, uint8_t sdo_subindex, uint16_t value)
	Add a configuration value for a 16-bit SDO. More...

EC_PUBLIC_API int	ecrt_slave_config_sdo32 (ec_slave_config_t *sc, uint16_t sdo_index, uint8_t sdo_subindex, uint32_t value)
	Add a configuration value for a 32-bit SDO. More...

EC_PUBLIC_API int	ecrt_slave_config_complete_sdo (ec_slave_config_t sc, uint16_t index, const uint8_t data, size_t size)
	Add configuration data for a complete SDO. More...

EC_PUBLIC_API int	ecrt_slave_config_emerg_size (ec_slave_config_t *sc, size_t elements)
	Set the size of the CoE emergency ring buffer. More...

EC_PUBLIC_API ec_sdo_request_t *	ecrt_slave_config_create_sdo_request (ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
	Create an SDO request to exchange SDOs during realtime operation. More...

EC_PUBLIC_API ec_soe_request_t *	ecrt_slave_config_create_soe_request (ec_slave_config_t *sc, uint8_t drive_no, uint16_t idn, size_t size)
	Create an SoE request to exchange SoE IDNs during realtime operation. More...

EC_PUBLIC_API ec_voe_handler_t *	ecrt_slave_config_create_voe_handler (ec_slave_config_t *sc, size_t size)
	Create an VoE handler to exchange vendor-specific data during realtime operation. More...

EC_PUBLIC_API ec_reg_request_t *	ecrt_slave_config_create_reg_request (ec_slave_config_t *sc, size_t size)
	Create a register request to exchange EtherCAT register contents during realtime operation. More...

EC_PUBLIC_API int	ecrt_slave_config_idn (ec_slave_config_t sc, uint8_t drive_no, uint16_t idn, ec_al_state_t state, const uint8_t data, size_t size)
	Add an SoE IDN configuration. More...

EC_PUBLIC_API int	ecrt_slave_config_flag (ec_slave_config_t sc, const char key, int32_t value)
	Adds a feature flag to a slave configuration. More...

EC_PUBLIC_API int	ecrt_domain_reg_pdo_entry_list (ec_domain_t domain, const ec_pdo_entry_reg_t pdo_entry_regs)
	Registers a bunch of PDO entries for a domain. More...

EC_PUBLIC_API size_t	ecrt_domain_size (const ec_domain_t *domain)
	Returns the current size of the domain's process data. More...

void	ecrt_domain_external_memory (ec_domain_t domain, uint8_t memory)
	Provide external memory to store the domain's process data. More...

EC_PUBLIC_API uint8_t *	ecrt_domain_data (const ec_domain_t *domain)
	Returns the domain's process data. More...

EC_PUBLIC_API int	ecrt_sdo_request_timeout (ec_sdo_request_t *req, uint32_t timeout)
	Set the timeout for an SDO request. More...

EC_PUBLIC_API int	ecrt_soe_request_timeout (ec_soe_request_t *req, uint32_t timeout)
	Set the timeout for an SoE request. More...

EC_PUBLIC_API size_t	ecrt_soe_request_data_size (const ec_soe_request_t *req)
	Returns the current IDN data size. More...

EC_PUBLIC_API uint8_t *	ecrt_voe_handler_data (const ec_voe_handler_t *voe)
	Access to the VoE handler's data. More...

EC_PUBLIC_API size_t	ecrt_voe_handler_data_size (const ec_voe_handler_t *voe)
	Returns the current data size. More...

Detailed Description

Interface for configuring the EtherCAT master for realtime applications.

There are functions to request a master, to map process data, to communicate with slaves via CoE and to configure and activate the network. All methods in this group should be used before the application switches to operational (real-time) mode by calling ecrt_master_activate(). After that, only calls to the functions in EtherCAT Real Time Application Interface are allowed. The real-time operational mode finishes by calling ecrt_master_deactivate(). Many functions in this group are blocking and/or they acquire locks. Do not use these functions in non-userspace contexts, e. g. in RTAI/Xenomai Real-Time tasks or in atomic/softirq/tasklet context in kernel modules. You have been warned.

Changes in version 1.6.0:

Added the ecrt_master_scan_progress() method, the ec_master_scan_progress_t structure and the EC_HAVE_SCAN_PROGRESS definition to check for its existence.

Changes since version 1.5.2:

Added the ecrt_slave_config_flag() method and the EC_HAVE_FLAGS definition to check for its existence.
Added SoE IDN requests, including the datatype ec_soe_request_t and the methods ecrt_slave_config_create_soe_request(), ecrt_soe_request_object(), ecrt_soe_request_timeout(), ecrt_soe_request_data(), ecrt_soe_request_data_size(), ecrt_soe_request_state(), ecrt_soe_request_write() and ecrt_soe_request_read(). Use the EC_HAVE_SOE_REQUESTS to check, if the functionality is available.

Changes in version 1.5.2:

Added redundancy_active flag to ec_domain_state_t.
Added ecrt_master_link_state() method and ec_master_link_state_t to query the state of a redundant link.
Added the EC_HAVE_REDUNDANCY define, to check, if the interface contains redundancy features.
Added ecrt_sdo_request_index() to change SDO index and subindex after request creation.
Added interface for retrieving CoE emergency messages, i. e. ecrt_slave_config_emerg_size(), ecrt_slave_config_emerg_pop(), ecrt_slave_config_emerg_clear(), ecrt_slave_config_emerg_overruns() and the defines EC_HAVE_EMERGENCY and EC_COE_EMERGENCY_MSG_SIZE.
Added interface for direct EtherCAT register access: Added data type ec_reg_request_t and methods ecrt_slave_config_create_reg_request(), ecrt_reg_request_data(), ecrt_reg_request_state(), ecrt_reg_request_write(), ecrt_reg_request_read() and the feature flag EC_HAVE_REG_ACCESS.
Added method to select the reference clock, ecrt_master_select_reference_clock() and the feature flag EC_HAVE_SELECT_REF_CLOCK to check, if the method is available.
Added method to get the reference clock time, ecrt_master_reference_clock_time() and the feature flag EC_HAVE_REF_CLOCK_TIME to have the possibility to synchronize the master clock to the reference clock.
Changed the data types of the shift times in ecrt_slave_config_dc() to int32_t to correctly display negative shift times.
Added ecrt_slave_config_reg_pdo_entry_pos() and the feature flag EC_HAVE_REG_BY_POS for registering PDO entries with non-unique indices via their positions in the mapping.

Changes in version 1.5:

Added the distributed clocks feature and the respective method ecrt_slave_config_dc() to configure a slave for cyclic operation, and ecrt_master_application_time(), ecrt_master_sync_reference_clock() and ecrt_master_sync_slave_clocks() for offset and drift compensation. The EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process() methods can be used to monitor the synchrony.
Improved the callback mechanism. ecrt_master_callbacks() now takes two callback functions for sending and receiving datagrams. ecrt_master_send_ext() is used to execute the sending of non-application datagrams.
Added watchdog configuration (method ecrt_slave_config_watchdog(), ec_watchdog_mode_t, watchdog_mode parameter in ec_sync_info_t and ecrt_slave_config_sync_manager()).
Added ecrt_slave_config_complete_sdo() method to download an SDO during configuration via CompleteAccess.
Added ecrt_master_deactivate() to remove the master configuration.
Added ecrt_open_master() and ecrt_master_reserve() separation for userspace.
Added master information interface (methods ecrt_master(), ecrt_master_get_slave(), ecrt_master_get_sync_manager(), ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information about the currently connected slaves and the PDO entries provided.
Added ecrt_master_sdo_download(), ecrt_master_sdo_download_complete() and ecrt_master_sdo_upload() methods to let an application transfer SDOs before activating the master.
Changed the meaning of the negative return values of ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
Implemented the Vendor-specific over EtherCAT mailbox protocol. See ecrt_slave_config_create_voe_handler().
Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also used by VoE handlers.
Removed 'const' from argument of ecrt_sdo_request_state(), because the userspace library has to modify object internals.
Added 64-bit data access macros.
Added ecrt_slave_config_idn() method for storing SoE IDN configurations, and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs ad-hoc via the user-space library.
Added ecrt_master_reset() to initiate retrying to configure slaves.

Macro Definition Documentation

◆ EC_HAVE_REDUNDANCY

#define EC_HAVE_REDUNDANCY

Defined, if the redundancy features are available.

I. e. if the redundancy_active flag in ec_domain_state_t and the ecrt_master_link_state() method are available.

Definition at line 193 of file ecrt.h.

◆ EC_HAVE_EMERGENCY

#define EC_HAVE_EMERGENCY

Defined, if the CoE emergency ring feature is available.

I. e. if the ecrt_slave_config_emerg_*() methods are available.

Definition at line 199 of file ecrt.h.

◆ EC_HAVE_REG_ACCESS

#define EC_HAVE_REG_ACCESS

Defined, if the register access interface is available.

I. e. if the methods ecrt_slave_config_create_reg_request(), ecrt_reg_request_data(), ecrt_reg_request_state(), ecrt_reg_request_write() and ecrt_reg_request_read() are available.

Definition at line 207 of file ecrt.h.

◆ EC_END

#define EC_END ~0U

End of list marker.

This can be used with ecrt_slave_config_pdos().

Definition at line 260 of file ecrt.h.

◆ EC_MAX_STRING_LENGTH

#define EC_MAX_STRING_LENGTH 64

Maximum string length.

Used in ec_slave_info_t.

Definition at line 270 of file ecrt.h.

◆ EC_MAX_PORTS

#define EC_MAX_PORTS 4

Maximum number of slave ports.

Definition at line 273 of file ecrt.h.

◆ EC_TIMEVAL2NANO

#define EC_TIMEVAL2NANO ( TV ) (((TV).tv_sec - 946684800ULL) * 1000000000ULL + (TV).tv_usec * 1000ULL)

Timeval to nanoseconds conversion.

This macro converts a Unix epoch time to EtherCAT DC time.

See also: void ecrt_master_application_time()

Parameters

TV	struct timeval containing epoch time.

Definition at line 283 of file ecrt.h.

◆ EC_COE_EMERGENCY_MSG_SIZE

#define EC_COE_EMERGENCY_MSG_SIZE 8

Size of a CoE emergency message in byte.

See also: ecrt_slave_config_emerg_pop().

Definition at line 290 of file ecrt.h.

◆ EC_READ_BIT

#define EC_READ_BIT	(	DATA,
		POS
	)	((((uint8_t ) (DATA)) >> (POS)) & 0x01)

Read a certain bit of an EtherCAT data byte.

Parameters

DATA	EtherCAT data pointer
POS	bit position

Definition at line 2518 of file ecrt.h.

◆ EC_WRITE_BIT

#define EC_WRITE_BIT	(	DATA,
		POS,
		VAL
	)

Value:

do { \
        if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \
        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
    } while (0)

Write a certain bit of an EtherCAT data byte.

Parameters

DATA	EtherCAT data pointer
POS	bit position
VAL	new bit value

Definition at line 2526 of file ecrt.h.

◆ EC_READ_U8

#define EC_READ_U8 ( DATA ) ((uint8_t) *((uint8_t *) (DATA)))

Read an 8-bit unsigned value from EtherCAT data.

Returns: EtherCAT data value

Definition at line 2595 of file ecrt.h.

◆ EC_READ_S8

#define EC_READ_S8 ( DATA ) ((int8_t) *((uint8_t *) (DATA)))

Read an 8-bit signed value from EtherCAT data.

Parameters

DATA	EtherCAT data pointer

Returns: EtherCAT data value

Definition at line 2603 of file ecrt.h.

◆ EC_READ_U16

#define EC_READ_U16 ( DATA ) ((uint16_t) le16_to_cpup((void *) (DATA)))

Read a 16-bit unsigned value from EtherCAT data.

Parameters

DATA	EtherCAT data pointer

Returns: EtherCAT data value

Definition at line 2611 of file ecrt.h.

◆ EC_READ_S16

#define EC_READ_S16 ( DATA ) ((int16_t) le16_to_cpup((void *) (DATA)))

Read a 16-bit signed value from EtherCAT data.

Parameters

DATA	EtherCAT data pointer

Returns: EtherCAT data value

Definition at line 2619 of file ecrt.h.

◆ EC_READ_U32

#define EC_READ_U32 ( DATA ) ((uint32_t) le32_to_cpup((void *) (DATA)))

Read a 32-bit unsigned value from EtherCAT data.

Parameters

DATA	EtherCAT data pointer

Returns: EtherCAT data value

Definition at line 2627 of file ecrt.h.

◆ EC_READ_S32

#define EC_READ_S32 ( DATA ) ((int32_t) le32_to_cpup((void *) (DATA)))

Read a 32-bit signed value from EtherCAT data.

Parameters

DATA	EtherCAT data pointer

Returns: EtherCAT data value

Definition at line 2635 of file ecrt.h.

◆ EC_READ_U64

#define EC_READ_U64 ( DATA ) ((uint64_t) le64_to_cpup((void *) (DATA)))

Read a 64-bit unsigned value from EtherCAT data.

Parameters

DATA	EtherCAT data pointer

Returns: EtherCAT data value

Definition at line 2643 of file ecrt.h.

◆ EC_READ_S64

#define EC_READ_S64 ( DATA ) ((int64_t) le64_to_cpup((void *) (DATA)))

Read a 64-bit signed value from EtherCAT data.

Parameters

DATA	EtherCAT data pointer

Returns: EtherCAT data value

Definition at line 2651 of file ecrt.h.

◆ EC_WRITE_U8

#define EC_WRITE_U8	(	DATA,
		VAL
	)

Value:

do { \
        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
    } while (0)

Write an 8-bit unsigned value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2699 of file ecrt.h.

◆ EC_WRITE_S8

#define EC_WRITE_S8	(	DATA,
		VAL
	)	EC_WRITE_U8(DATA, VAL)

Write an 8-bit signed value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2709 of file ecrt.h.

◆ EC_WRITE_U16

#define EC_WRITE_U16	(	DATA,
		VAL
	)

Value:

do { \
        *((uint16_t *) (DATA)) = cpu_to_le16((uint16_t) (VAL)); \
    } while (0)

Write a 16-bit unsigned value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2716 of file ecrt.h.

◆ EC_WRITE_S16

#define EC_WRITE_S16	(	DATA,
		VAL
	)	EC_WRITE_U16(DATA, VAL)

Write a 16-bit signed value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2726 of file ecrt.h.

◆ EC_WRITE_U32

#define EC_WRITE_U32	(	DATA,
		VAL
	)

Value:

do { \
        *((uint32_t *) (DATA)) = cpu_to_le32((uint32_t) (VAL)); \
    } while (0)

Write a 32-bit unsigned value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2733 of file ecrt.h.

◆ EC_WRITE_S32

#define EC_WRITE_S32	(	DATA,
		VAL
	)	EC_WRITE_U32(DATA, VAL)

Write a 32-bit signed value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2743 of file ecrt.h.

◆ EC_WRITE_U64

#define EC_WRITE_U64	(	DATA,
		VAL
	)

Value:

do { \
        *((uint64_t *) (DATA)) = cpu_to_le64((uint64_t) (VAL)); \
    } while (0)

Write a 64-bit unsigned value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2750 of file ecrt.h.

◆ EC_WRITE_S64

#define EC_WRITE_S64	(	DATA,
		VAL
	)	EC_WRITE_U64(DATA, VAL)

Write a 64-bit signed value to EtherCAT data.

Parameters

DATA	EtherCAT data pointer
VAL	new value

Definition at line 2760 of file ecrt.h.

Typedef Documentation

◆ ec_master_t

typedef struct ec_master ec_master_t

See also: ec_master

Definition at line 297 of file ecrt.h.

◆ ec_slave_config_t

typedef struct ec_slave_config ec_slave_config_t

See also: ec_slave_config

Definition at line 300 of file ecrt.h.

◆ ec_domain_t

typedef struct ec_domain ec_domain_t

See also: ec_domain

Definition at line 303 of file ecrt.h.

◆ ec_sdo_request_t

typedef struct ec_sdo_request ec_sdo_request_t

See also: ec_sdo_request.

Definition at line 306 of file ecrt.h.

◆ ec_soe_request_t

typedef struct ec_soe_request ec_soe_request_t

See also: ec_soe_request.

Definition at line 309 of file ecrt.h.

◆ ec_voe_handler_t

typedef struct ec_voe_handler ec_voe_handler_t

See also: ec_voe_handler.

Definition at line 312 of file ecrt.h.

◆ ec_reg_request_t

typedef struct ec_reg_request ec_reg_request_t

See also: ec_reg_request.

Definition at line 315 of file ecrt.h.

Enumeration Type Documentation

◆ ec_slave_port_desc_t

enum ec_slave_port_desc_t

EtherCAT slave port descriptor.

Enumerator
EC_PORT_NOT_IMPLEMENTED	Port is not implemented.
EC_PORT_NOT_CONFIGURED	Port is not configured.
EC_PORT_EBUS	Port is an E-Bus.
EC_PORT_MII	Port is a MII.

Definition at line 423 of file ecrt.h.

◆ ec_wc_state_t

enum ec_wc_state_t

Domain working counter interpretation.

This is used in ec_domain_state_t.

Enumerator
EC_WC_ZERO	No registered process data were exchanged.
EC_WC_INCOMPLETE	Some of the registered process data were exchanged.
EC_WC_COMPLETE	All registered process data were exchanged.

Definition at line 478 of file ecrt.h.

◆ ec_direction_t

enum ec_direction_t

Direction type for PDO assignment functions.

Enumerator
EC_DIR_INVALID	Invalid direction. Do not use this value.
EC_DIR_OUTPUT	Values written by the master.
EC_DIR_INPUT	Values read by the master.
EC_DIR_COUNT	Number of directions. For internal use only.

Definition at line 501 of file ecrt.h.

◆ ec_watchdog_mode_t

enum ec_watchdog_mode_t

Watchdog mode for sync manager configuration.

Used to specify, if a sync manager's watchdog is to be enabled.

Enumerator
EC_WD_DEFAULT	Use the default setting of the sync manager.
EC_WD_ENABLE	Enable the watchdog.
EC_WD_DISABLE	Disable the watchdog.

Definition at line 514 of file ecrt.h.

◆ ec_request_state_t

enum ec_request_state_t

Request state.

This is used as return type for ecrt_sdo_request_state() and ecrt_voe_handler_state().

Enumerator
EC_REQUEST_UNUSED	Not requested.
EC_REQUEST_BUSY	Request is being processed.
EC_REQUEST_SUCCESS	Request was processed successfully.
EC_REQUEST_ERROR	Request processing failed.

Definition at line 601 of file ecrt.h.

◆ ec_al_state_t

enum ec_al_state_t

Application-layer state.

Enumerator
EC_AL_STATE_INIT	Init.
EC_AL_STATE_PREOP	Pre-operational.
EC_AL_STATE_SAFEOP	Safe-operational.
EC_AL_STATE_OP	Operational.

Definition at line 612 of file ecrt.h.

Function Documentation

◆ ecrt_version_magic()

EC_PUBLIC_API unsigned int ecrt_version_magic ( void )

Returns the version magic of the realtime interface.

Returns: Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.

Definition at line 645 of file module.c.

◆ ecrt_request_master()

EC_PUBLIC_API ec_master_t* ecrt_request_master ( unsigned int master_index )

Requests an EtherCAT master for realtime operation.

Before an application can access an EtherCAT master, it has to reserve one for exclusive use.

In userspace, this is a convenience function for ecrt_open_master() and ecrt_master_reserve().

This function has to be the first function an application has to call to use EtherCAT. The function takes the index of the master as its argument. The first master has index 0, the n-th master has index n - 1. The number of masters has to be specified when loading the master module.

Returns: Pointer to the reserved master, otherwise NULL.

Parameters

master_index Index of the master to request.

Definition at line 611 of file module.c.

◆ ecrt_release_master()

EC_PUBLIC_API void ecrt_release_master ( ec_master_t * master )

Releases a requested EtherCAT master.

After use, a master it has to be released to make it available for other applications.

This method frees all created data structures. It should not be called in realtime context.

If the master was activated, ecrt_master_deactivate() is called internally.

Parameters

master EtherCAT master

Definition at line 619 of file module.c.

◆ ecrt_master_callbacks()

void ecrt_master_callbacks	(	ec_master_t *	master,
		void()(void )	send_cb,
		void()(void )	receive_cb,
		void *	cb_data
	)

Sets the locking callbacks.

For concurrent master access, i. e. if other instances than the application want to send and receive datagrams on the network, the application has to provide a callback mechanism. This method takes two function pointers as its parameters. Asynchronous master access (like EoE processing) is only possible if the callbacks have been set.

The task of the send callback (send_cb) is to decide, if the network hardware is currently accessible and whether or not to call the ecrt_master_send_ext() method.

The task of the receive callback (receive_cb) is to decide, if a call to ecrt_master_receive() is allowed and to execute it respectively.

Attention: This method has to be called before ecrt_master_activate().

Parameters

master	EtherCAT master
send_cb	Datagram sending callback.
receive_cb	Receive callback.
cb_data	Arbitrary pointer passed to the callback functions.

Definition at line 2719 of file master.c.

◆ ecrt_master_create_domain()

EC_PUBLIC_API ec_domain_t* ecrt_master_create_domain ( ec_master_t * master )

Creates a new process data domain.

For process data exchange, at least one process data domain is needed. This method creates a new process data domain and returns a pointer to the new domain object. This object can be used for registering PDOs and exchanging them in cyclic operation.

This method allocates memory and should be called in non-realtime context before ecrt_master_activate().

Returns: Pointer to the new domain on success, else NULL.

Parameters

master EtherCAT master.

Definition at line 2269 of file master.c.

◆ ecrt_master_slave_config()

EC_PUBLIC_API ec_slave_config_t* ecrt_master_slave_config	(	ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position,
		uint32_t	vendor_id,
		uint32_t	product_code
	)

Obtains a slave configuration.

Creates a slave configuration object for the given alias and position tuple and returns it. If a configuration with the same alias and position already exists, it will be re-used. In the latter case, the given vendor ID and product code are compared to the stored ones. On mismatch, an error message is raised and the function returns NULL.

Slaves are addressed with the alias and position parameters.

If alias is zero, position is interpreted as the desired slave's ring position.
If alias is non-zero, it matches a slave with the given alias. In this case, position is interpreted as ring offset, starting from the aliased slave, so a position of zero means the aliased slave itself and a positive value matches the n-th slave behind the aliased one.

If the slave with the given address is found during the configuration, its vendor ID and product code are matched against the given value. On mismatch, the slave is not configured and an error message is raised.

If different slave configurations are pointing to the same slave during configuration, a warning is raised and only the first configuration is applied.

This method allocates memory and should be called in non-realtime context before ecrt_master_activate().

Return values

>0	Pointer to the slave configuration structure.
NULL	in the error case.

Parameters

master	EtherCAT master
alias	Slave alias.
position	Slave position.
vendor_id	Expected vendor ID.
product_code	Expected product code.

Definition at line 2599 of file master.c.

◆ ecrt_master_select_reference_clock()

EC_PUBLIC_API int ecrt_master_select_reference_clock	(	ec_master_t *	master,
		ec_slave_config_t *	sc
	)

Selects the reference clock for distributed clocks.

If this method is not called for a certain master, or if the slave configuration pointer is NULL, then the first slave with DC functionality will provide the reference clock.

Returns: 0 on success, otherwise negative error code.

Parameters

master	EtherCAT master.
sc	Slave config of the slave to use as the reference slave (or NULL).

Definition at line 2610 of file master.c.

◆ ecrt_master()

EC_PUBLIC_API int ecrt_master	(	ec_master_t *	master,
		ec_master_info_t *	master_info
	)

Obtains master information.

No memory is allocated on the heap in this function.

Attention: The pointer to this structure must point to a valid variable.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
master_info	Structure that will output the information

Definition at line 2630 of file master.c.

◆ ecrt_master_scan_progress()

EC_PUBLIC_API int ecrt_master_scan_progress	(	ec_master_t *	master,
		ec_master_scan_progress_t *	progress
	)

Obtains network scan progress information.

No memory is allocated on the heap in this function.

Attention: The pointer to this structure must point to a valid variable.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
progress	Structure that will output the progress information.

Definition at line 2644 of file master.c.

◆ ecrt_master_get_slave()

EC_PUBLIC_API int ecrt_master_get_slave	(	ec_master_t *	master,
		uint16_t	slave_position,
		ec_slave_info_t *	slave_info
	)

Obtains slave information.

Tries to find the slave with the given ring position. The obtained information is stored in a structure. No memory is allocated on the heap in this function.

Attention: The pointer to this structure must point to a valid variable.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
slave_position	Slave position.
slave_info	Structure that will output the information

Definition at line 2657 of file master.c.

◆ ecrt_master_sdo_download()

EC_PUBLIC_API int ecrt_master_sdo_download	(	ec_master_t *	master,
		uint16_t	slave_position,
		uint16_t	index,
		uint8_t	subindex,
		const uint8_t *	data,
		size_t	data_size,
		uint32_t *	abort_code
	)

Executes an SDO download request to write data to a slave.

This request is processed by the master state machine. This method blocks, until the request has been processed and may not be called in realtime context.

Return values

0	Success.
<0	Error code.

Parameters

master	EtherCAT master.
slave_position	Slave position.
index	Index of the SDO.
subindex	Subindex of the SDO.
data	Data buffer to download.
data_size	Size of the data buffer.
abort_code	Abort code of the SDO download.

Definition at line 2867 of file master.c.

◆ ecrt_master_sdo_download_complete()

EC_PUBLIC_API int ecrt_master_sdo_download_complete	(	ec_master_t *	master,
		uint16_t	slave_position,
		uint16_t	index,
		const uint8_t *	data,
		size_t	data_size,
		uint32_t *	abort_code
	)

Executes an SDO download request to write data to a slave via complete access.

This request is processed by the master state machine. This method blocks, until the request has been processed and may not be called in realtime context.

Return values

0	Success.
<0	Error code.

Parameters

master	EtherCAT master.
slave_position	Slave position.
index	Index of the SDO.
data	Data buffer to download.
data_size	Size of the data buffer.
abort_code	Abort code of the SDO download.

Definition at line 2946 of file master.c.

◆ ecrt_master_sdo_upload()

EC_PUBLIC_API int ecrt_master_sdo_upload	(	ec_master_t *	master,
		uint16_t	slave_position,
		uint16_t	index,
		uint8_t	subindex,
		uint8_t *	target,
		size_t	target_size,
		size_t *	result_size,
		uint32_t *	abort_code
	)

Executes an SDO upload request to read data from a slave.

This request is processed by the master state machine. This method blocks, until the request has been processed and may not be called in realtime context.

Return values

0	Success.
<0	Error code.

Parameters

master	EtherCAT master.
slave_position	Slave position.
index	Index of the SDO.
subindex	Subindex of the SDO.
target	Target buffer for the upload.
target_size	Size of the target buffer.
result_size	Uploaded data size.
abort_code	Abort code of the SDO upload.

Definition at line 3027 of file master.c.

◆ ecrt_master_write_idn()

EC_PUBLIC_API int ecrt_master_write_idn	(	ec_master_t *	master,
		uint16_t	slave_position,
		uint8_t	drive_no,
		uint16_t	idn,
		const uint8_t *	data,
		size_t	data_size,
		uint16_t *	error_code
	)

Executes an SoE write request.

Starts writing an IDN and blocks until the request was processed, or an error occurred.

Return values

0	Success.
<0	Error code.

Parameters

master	EtherCAT master.
slave_position	Slave position.
drive_no	Drive number.
idn	SoE IDN (see ecrt_slave_config_idn()).
data	Pointer to data to write.
data_size	Size of data to write.
error_code	Pointer to variable, where an SoE error code can be stored.

Definition at line 3110 of file master.c.

◆ ecrt_master_read_idn()

EC_PUBLIC_API int ecrt_master_read_idn	(	ec_master_t *	master,
		uint16_t	slave_position,
		uint8_t	drive_no,
		uint16_t	idn,
		uint8_t *	target,
		size_t	target_size,
		size_t *	result_size,
		uint16_t *	error_code
	)

Executes an SoE read request.

Starts reading an IDN and blocks until the request was processed, or an error occurred.

Return values

0	Success.
<0	Error code.

Parameters

master	EtherCAT master.
slave_position	Slave position.
drive_no	Drive number.
idn	SoE IDN (see ecrt_slave_config_idn()).
target	Pointer to memory where the read data can be stored.
target_size	Size of the memory target points to.
result_size	Actual size of the received data.
error_code	Pointer to variable, where an SoE error code can be stored.

Definition at line 3186 of file master.c.

◆ ecrt_master_activate()

EC_PUBLIC_API int ecrt_master_activate ( ec_master_t * master )

Finishes the configuration phase and prepares for cyclic operation.

This function tells the master that the configuration phase is finished and the realtime operation will begin. The function allocates internal memory for the domains and calculates the logical FMMU addresses for domain members. It tells the master state machine that the configuration is now to be applied to the network.

Attention: After this function has been called, the realtime application is in charge of cyclically calling ecrt_master_send() and ecrt_master_receive() to ensure network communication. Before calling this function, the master thread is responsible for that, so these functions may not be called! The method itself allocates memory and should not be called in realtime context.

Returns: 0 in case of success, else < 0

Parameters

master EtherCAT master.

Definition at line 2279 of file master.c.

◆ ecrt_master_deactivate()

EC_PUBLIC_API int ecrt_master_deactivate ( ec_master_t * master )

Deactivates the master.

Removes the master configuration. All objects created by ecrt_master_create_domain(), ecrt_master_slave_config(), ecrt_domain_data() ecrt_slave_config_create_sdo_request() and ecrt_slave_config_create_voe_handler() are freed, so pointers to them become invalid.

This method should not be called in realtime context.

Returns: 0 on success, otherwise negative error code.

Return values

0	Success.
-EINVAL	Master has not been activated before.

Parameters

master EtherCAT master.

Definition at line 2353 of file master.c.

◆ ecrt_master_set_send_interval()

EC_PUBLIC_API int ecrt_master_set_send_interval	(	ec_master_t *	master,
		size_t	send_interval
	)

Set interval between calls to ecrt_master_send().

This information helps the master to decide, how much data can be appended to a frame by the master state machine. When the master is configured with –enable-hrtimers, this is used to calculate the scheduling of the master thread.

Return values

0	on success.
<0	Error code.

Parameters

master	EtherCAT master.
send_interval	Send interval in us

◆ ecrt_master_send_ext()

int ecrt_master_send_ext ( ec_master_t * master )

Sends non-application datagrams.

This method has to be called in the send callback function passed via ecrt_master_callbacks() to allow the sending of non-application datagrams.

Returns: Zero on success, otherwise negative error code.

Parameters

master EtherCAT master.

Definition at line 2522 of file master.c.

◆ ecrt_master_state()

EC_PUBLIC_API int ecrt_master_state	(	const ec_master_t *	master,
		ec_master_state_t *	state
	)

Reads the current master state.

Stores the master state information in the given state structure.

This method returns a global state. For the link-specific states in a redundant network topology, use the ecrt_master_link_state() method.

Returns: Zero on success, otherwise negative error code.

Parameters

master	EtherCAT master.
state	Structure to store the information.

Definition at line 2733 of file master.c.

◆ ecrt_master_link_state()

EC_PUBLIC_API int ecrt_master_link_state	(	const ec_master_t *	master,
		unsigned int	dev_idx,
		ec_master_link_state_t *	state
	)

Reads the current state of a redundant link.

Stores the link state information in the given state structure.

Returns: Zero on success, otherwise negative error code.

Parameters

master	EtherCAT master.
dev_idx	Index of the device (0 = main device, 1 = first backup device, ...).
state	Structure to store the information.

Definition at line 2757 of file master.c.

◆ ecrt_master_reference_clock_time()

EC_PUBLIC_API int ecrt_master_reference_clock_time	(	const ec_master_t *	master,
		uint32_t *	time
	)

Get the lower 32 bit of the reference clock system time.

This method can be used to synchronize the master to the reference clock.

The reference clock system time is queried via the ecrt_master_sync_slave_clocks() method, that reads the system time of the reference clock and writes it to the slave clocks (so be sure to call it cyclically to get valid data).

Attention: The returned time is the system time of the reference clock minus the transmission delay of the reference clock.

Calling this method makes only sense in realtime context (after master activation), when the ecrt_master_sync_slave_clocks() method is called cyclically.

Return values

0	success, system time was written into time.
-ENXIO	No reference clock found.
-EIO	Slave synchronization datagram was not received.

Parameters

master	EtherCAT master.
time	Pointer to store the queried system time.

Definition at line 2785 of file master.c.

◆ ecrt_slave_config_sync_manager()

EC_PUBLIC_API int ecrt_slave_config_sync_manager	(	ec_slave_config_t *	sc,
		uint8_t	sync_index,
		ec_direction_t	direction,
		ec_watchdog_mode_t	watchdog_mode
	)

Configure a sync manager.

Sets the direction of a sync manager. This overrides the direction bits from the default control register from SII.

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: zero on success, else non-zero

Parameters

sc	Slave configuration.
sync_index	Sync manager index. Must be less than EC_MAX_SYNC_MANAGERS.
direction	Input/Output.
watchdog_mode	Watchdog mode.

Definition at line 623 of file slave_config.c.

◆ ecrt_slave_config_watchdog()

EC_PUBLIC_API int ecrt_slave_config_watchdog	(	ec_slave_config_t *	sc,
		uint16_t	watchdog_divider,
		uint16_t	watchdog_intervals
	)

Configure a slave's watchdog times.

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: 0 on success, otherwise negative error code.

Parameters

sc	Slave configuration.
watchdog_divider	Number of 40 ns intervals (register 0x0400). Used as a base unit for all slave watchdogs^. If set to zero, the value is not written, so the default is used.
watchdog_intervals	Number of base intervals for sync manager watchdog (register 0x0420). If set to zero, the value is not written, so the default is used.

Definition at line 650 of file slave_config.c.

◆ ecrt_slave_config_pdo_assign_add()

EC_PUBLIC_API int ecrt_slave_config_pdo_assign_add	(	ec_slave_config_t *	sc,
		uint8_t	sync_index,
		uint16_t	index
	)

Add a PDO to a sync manager's PDO assignment.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_pdos()

Returns: zero on success, else non-zero

Parameters

sc	Slave configuration.
sync_index	Sync manager index. Must be less than EC_MAX_SYNC_MANAGERS.
index	Index of the PDO to assign.

Definition at line 663 of file slave_config.c.

◆ ecrt_slave_config_pdo_assign_clear()

EC_PUBLIC_API int ecrt_slave_config_pdo_assign_clear	(	ec_slave_config_t *	sc,
		uint8_t	sync_index
	)

Clear a sync manager's PDO assignment.

This can be called before assigning PDOs via ecrt_slave_config_pdo_assign_add(), to clear the default assignment of a sync manager.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_pdos()

Returns: 0 on success, otherwise negative error code.

Parameters

sc	Slave configuration.
sync_index	Sync manager index. Must be less than EC_MAX_SYNC_MANAGERS.

Definition at line 693 of file slave_config.c.

◆ ecrt_slave_config_pdo_mapping_add()

EC_PUBLIC_API int ecrt_slave_config_pdo_mapping_add	(	ec_slave_config_t *	sc,
		uint16_t	pdo_index,
		uint16_t	entry_index,
		uint8_t	entry_subindex,
		uint8_t	entry_bit_length
	)

Add a PDO entry to the given PDO's mapping.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_pdos()

Returns: zero on success, else non-zero

Parameters

sc	Slave configuration.
pdo_index	Index of the PDO.
entry_index	Index of the PDO entry to add to the PDO's mapping.
entry_subindex	Subindex of the PDO entry to add to the PDO's mapping.
entry_bit_length	Size of the PDO entry in bit.

Definition at line 712 of file slave_config.c.

◆ ecrt_slave_config_pdo_mapping_clear()

EC_PUBLIC_API int ecrt_slave_config_pdo_mapping_clear	(	ec_slave_config_t *	sc,
		uint16_t	pdo_index
	)

Clear the mapping of a given PDO.

This can be called before mapping PDO entries via ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_pdos()

Returns: 0 on success, otherwise negative error code.

Parameters

sc	Slave configuration.
pdo_index	Index of the PDO.

Definition at line 749 of file slave_config.c.

◆ ecrt_slave_config_pdos()

EC_PUBLIC_API int ecrt_slave_config_pdos	(	ec_slave_config_t *	sc,
		unsigned int	n_syncs,
		const ec_sync_info_t	syncs[]
	)

Specify a complete PDO configuration.

This function is a convenience wrapper for the functions ecrt_slave_config_sync_manager(), ecrt_slave_config_pdo_assign_clear(), ecrt_slave_config_pdo_assign_add(), ecrt_slave_config_pdo_mapping_clear() and ecrt_slave_config_pdo_mapping_add(), that are better suitable for automatic code generation.

The following example shows, how to specify a complete configuration, including the PDO mappings. With this information, the master is able to reserve the complete process data, even if the slave is not present at configuration time:

ec_pdo_entry_info_t el3162_channel1[] = {
    {0x3101, 1,  8}, // status
    {0x3101, 2, 16}  // value
};
ec_pdo_entry_info_t el3162_channel2[] = {
    {0x3102, 1,  8}, // status
    {0x3102, 2, 16}  // value
};
ec_pdo_info_t el3162_pdos[] = {
    {0x1A00, 2, el3162_channel1},
    {0x1A01, 2, el3162_channel2}
};
ec_sync_info_t el3162_syncs[] = {
    {2, EC_DIR_OUTPUT},
    {3, EC_DIR_INPUT, 2, el3162_pdos},
    {0xff}
};
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
    // handle error
}

The next example shows, how to configure the PDO assignment only. The entries for each assigned PDO are taken from the PDO's default mapping. Please note, that PDO entry registration will fail, if the PDO configuration is left empty and the slave is offline.

ec_pdo_info_t pdos[] = {
    {0x1600}, // Channel 1
    {0x1601}  // Channel 2
};
ec_sync_info_t syncs[] = {
    {3, EC_DIR_INPUT, 2, pdos},
};
if (ecrt_slave_config_pdos(slave_config_ana_in, 1, syncs)) {
    // handle error
}

Processing of syncs will stop, if

the number of processed items reaches n_syncs, or
the index member of an ec_sync_info_t item is 0xff. In this case, n_syncs should set to a number greater than the number of list items; using EC_END is recommended.

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: zero on success, else non-zero

Parameters

sc	Slave configuration.
n_syncs	Number of sync manager configurations in syncs.
syncs	Array of sync manager configurations.

Definition at line 775 of file slave_config.c.

◆ ecrt_slave_config_reg_pdo_entry()

EC_PUBLIC_API int ecrt_slave_config_reg_pdo_entry	(	ec_slave_config_t *	sc,
		uint16_t	entry_index,
		uint8_t	entry_subindex,
		ec_domain_t *	domain,
		unsigned int *	bit_position
	)

Registers a PDO entry for process data exchange in a domain.

Searches the assigned PDOs for the given PDO entry. An error is raised, if the given entry is not mapped. Otherwise, the corresponding sync manager and FMMU configurations are provided for slave configuration and the respective sync manager's assigned PDOs are appended to the given domain, if not already done. The offset of the requested PDO entry's data inside the domain's process data is returned. Optionally, the PDO entry bit position (0-7) can be retrieved via the bit_position output parameter. This pointer may be NULL, in this case an error is raised if the PDO entry does not byte-align.

This method has to be called in non-realtime context before ecrt_master_activate().

Return values

>=0	Success: Offset of the PDO entry's process data.
<0	Error code.

Parameters

sc	Slave configuration.
entry_index	Index of the PDO entry to register.
entry_subindex	Subindex of the PDO entry to register.
domain	Domain.
bit_position	Optional address if bit addressing is desired

Definition at line 842 of file slave_config.c.

◆ ecrt_slave_config_reg_pdo_entry_pos()

EC_PUBLIC_API int ecrt_slave_config_reg_pdo_entry_pos	(	ec_slave_config_t *	sc,
		uint8_t	sync_index,
		unsigned int	pdo_pos,
		unsigned int	entry_pos,
		ec_domain_t *	domain,
		unsigned int *	bit_position
	)

Registers a PDO entry using its position.

Similar to ecrt_slave_config_reg_pdo_entry(), but not using PDO indices but offsets in the PDO mapping, because PDO entry indices may not be unique inside a slave's PDO mapping. An error is raised, if one of the given positions is out of range.

This method has to be called in non-realtime context before ecrt_master_activate().

Return values

>=0	Success: Offset of the PDO entry's process data.
<0	Error code.

Parameters

sc	Slave configuration.
sync_index	Sync manager index.
pdo_pos	Position of the PDO inside the SM.
entry_pos	Position of the entry inside the PDO.
domain	Domain.
bit_position	Optional address if bit addressing is desired

Definition at line 897 of file slave_config.c.

◆ ecrt_slave_config_dc()

EC_PUBLIC_API int ecrt_slave_config_dc	(	ec_slave_config_t *	sc,
		uint16_t	assign_activate,
		uint32_t	sync0_cycle,
		int32_t	sync0_shift,
		uint32_t	sync1_cycle,
		int32_t	sync1_shift
	)

Configure distributed clocks.

Sets the AssignActivate word and the cycle and shift times for the sync signals.

The AssignActivate word is vendor-specific and can be taken from the XML device description file (Device -> Dc -> AssignActivate). Set this to zero, if the slave shall be operated without distributed clocks (default).

This method has to be called in non-realtime context before ecrt_master_activate().

Attention: The sync1_shift time is ignored.

Returns: 0 on success, otherwise negative error code.

Parameters

sc	Slave configuration.
assign_activate	AssignActivate word.
sync0_cycle	SYNC0 cycle time [ns].
sync0_shift	SYNC0 shift time [ns].
sync1_cycle	SYNC1 cycle time [ns].
sync1_shift	SYNC1 shift time [ns].

Definition at line 962 of file slave_config.c.

◆ ecrt_slave_config_sdo()

EC_PUBLIC_API int ecrt_slave_config_sdo	(	ec_slave_config_t *	sc,
		uint16_t	index,
		uint8_t	subindex,
		const uint8_t *	data,
		size_t	size
	)

Add an SDO configuration.

An SDO configuration is stored in the slave configuration object and is downloaded to the slave whenever the slave is being configured by the master. This usually happens once on master activation, but can be repeated subsequently, for example after the slave's power supply failed.

Attention: The SDOs for PDO assignment (0x1C10 - 0x1C2F) and PDO mapping (0x1600 - 0x17FF and 0x1A00 - 0x1BFF) should not be configured with this function, because they are part of the slave configuration done by the master. Please use ecrt_slave_config_pdos() and friends instead.

This is the generic function for adding an SDO configuration. Please note that the this function does not do any endianness correction. If datatype-specific functions are needed (that automatically correct the endianness), have a look at ecrt_slave_config_sdo8(), ecrt_slave_config_sdo16() and ecrt_slave_config_sdo32().

This method has to be called in non-realtime context before ecrt_master_activate().

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration.
index	Index of the SDO to configure.
subindex	Subindex of the SDO to configure.
data	Pointer to the data.
size	Size of the data.

Definition at line 982 of file slave_config.c.

◆ ecrt_slave_config_sdo8()

EC_PUBLIC_API int ecrt_slave_config_sdo8	(	ec_slave_config_t *	sc,
		uint16_t	sdo_index,
		uint8_t	sdo_subindex,
		uint8_t	value
	)

Add a configuration value for an 8-bit SDO.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_sdo().

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration
sdo_index	Index of the SDO to configure.
sdo_subindex	Subindex of the SDO to configure.
value	Value to set.

Definition at line 1022 of file slave_config.c.

◆ ecrt_slave_config_sdo16()

EC_PUBLIC_API int ecrt_slave_config_sdo16	(	ec_slave_config_t *	sc,
		uint16_t	sdo_index,
		uint8_t	sdo_subindex,
		uint16_t	value
	)

Add a configuration value for a 16-bit SDO.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_sdo().

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration
sdo_index	Index of the SDO to configure.
sdo_subindex	Subindex of the SDO to configure.
value	Value to set.

Definition at line 1037 of file slave_config.c.

◆ ecrt_slave_config_sdo32()

EC_PUBLIC_API int ecrt_slave_config_sdo32	(	ec_slave_config_t *	sc,
		uint16_t	sdo_index,
		uint8_t	sdo_subindex,
		uint32_t	value
	)

Add a configuration value for a 32-bit SDO.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_sdo().

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration
sdo_index	Index of the SDO to configure.
sdo_subindex	Subindex of the SDO to configure.
value	Value to set.

Definition at line 1052 of file slave_config.c.

◆ ecrt_slave_config_complete_sdo()

EC_PUBLIC_API int ecrt_slave_config_complete_sdo	(	ec_slave_config_t *	sc,
		uint16_t	index,
		const uint8_t *	data,
		size_t	size
	)

Add configuration data for a complete SDO.

The SDO data are transferred via CompleteAccess. Data for the first subindex (0) have to be included.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_sdo().

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration.
index	Index of the SDO to configure.
data	Pointer to the data.
size	Size of the data.

Definition at line 1067 of file slave_config.c.

◆ ecrt_slave_config_emerg_size()

EC_PUBLIC_API int ecrt_slave_config_emerg_size	(	ec_slave_config_t *	sc,
		size_t	elements
	)

Set the size of the CoE emergency ring buffer.

The initial size is zero, so all messages will be dropped. This method can be called even after master activation, but it will clear the ring buffer!

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: 0 on success, or negative error code.

Parameters

sc	Slave configuration.
elements	Number of records of the CoE emergency ring.

Definition at line 1107 of file slave_config.c.

◆ ecrt_slave_config_create_sdo_request()

EC_PUBLIC_API ec_sdo_request_t* ecrt_slave_config_create_sdo_request	(	ec_slave_config_t *	sc,
		uint16_t	index,
		uint8_t	subindex,
		size_t	size
	)

Create an SDO request to exchange SDOs during realtime operation.

The created SDO request object is freed automatically when the master is released.

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: New SDO request, or NULL on error.

Parameters

sc	Slave configuration.
index	SDO index.
subindex	SDO subindex.
size	Data size to reserve.

Definition at line 1177 of file slave_config.c.

◆ ecrt_slave_config_create_soe_request()

EC_PUBLIC_API ec_soe_request_t* ecrt_slave_config_create_soe_request	(	ec_slave_config_t *	sc,
		uint8_t	drive_no,
		uint16_t	idn,
		size_t	size
	)

Create an SoE request to exchange SoE IDNs during realtime operation.

The created SoE request object is freed automatically when the master is released.

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: New SoE request, or NULL on error.

Parameters

sc	Slave configuration.
drive_no	Drive number.
idn	Sercos ID-Number.
size	Data size to reserve.

Definition at line 1229 of file slave_config.c.

◆ ecrt_slave_config_create_voe_handler()

EC_PUBLIC_API ec_voe_handler_t* ecrt_slave_config_create_voe_handler	(	ec_slave_config_t *	sc,
		size_t	size
	)

Create an VoE handler to exchange vendor-specific data during realtime operation.

The number of VoE handlers per slave configuration is not limited, but usually it is enough to create one for sending and one for receiving, if both can be done simultaneously.

The created VoE handler object is freed automatically when the master is released.

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: New VoE handler, or NULL on error.

Parameters

sc	Slave configuration.
size	Data size to reserve.

Definition at line 1314 of file slave_config.c.

◆ ecrt_slave_config_create_reg_request()

EC_PUBLIC_API ec_reg_request_t* ecrt_slave_config_create_reg_request	(	ec_slave_config_t *	sc,
		size_t	size
	)

Create a register request to exchange EtherCAT register contents during realtime operation.

This interface should not be used to take over master functionality, instead it is intended for debugging and monitoring reasons.

The created register request object is freed automatically when the master is released.

This method has to be called in non-realtime context before ecrt_master_activate().

Returns: New register request, or NULL on error.

Parameters

sc	Slave configuration.
size	Data size to reserve.

Definition at line 1272 of file slave_config.c.

◆ ecrt_slave_config_idn()

EC_PUBLIC_API int ecrt_slave_config_idn	(	ec_slave_config_t *	sc,
		uint8_t	drive_no,
		uint16_t	idn,
		ec_al_state_t	state,
		const uint8_t *	data,
		size_t	size
	)

Add an SoE IDN configuration.

A configuration for a Sercos-over-EtherCAT IDN is stored in the slave configuration object and is written to the slave whenever the slave is being configured by the master. This usually happens once on master activation, but can be repeated subsequently, for example after the slave's power supply failed.

The idn parameter can be separated into several sections:

Bit 15: Standard data (0) or Product data (1)
Bit 14 - 12: Parameter set (0 - 7)
Bit 11 - 0: Data block number (0 - 4095)

Please note that the this function does not do any endianness correction. Multi-byte data have to be passed in EtherCAT endianness (little-endian).

This method has to be called in non-realtime context before ecrt_master_activate().

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration.
drive_no	Drive number.
idn	SoE IDN.
state	AL state in which to write the IDN (PREOP or SAFEOP).
data	Pointer to the data.
size	Size of the data.

Definition at line 1343 of file slave_config.c.

◆ ecrt_slave_config_flag()

EC_PUBLIC_API int ecrt_slave_config_flag	(	ec_slave_config_t *	sc,
		const char *	key,
		int32_t	value
	)

Adds a feature flag to a slave configuration.

Feature flags are a generic way to configure slave-specific behavior.

Multiple calls with the same slave configuration and key will overwrite the configuration.

The following flags may be available:

AssignToPdi: Zero (default) keeps the slave information interface (SII) assigned to EtherCAT (except during transition to PREOP). Non-zero assigns the SII to the slave controller side before going to PREOP and leaves it there until a write command happens.
WaitBeforeSAFEOPms: Number of milliseconds to wait before commanding the transition from PREOP to SAFEOP. This can be used as a workaround for slaves that need a little time to initialize.

This method has to be called in non-realtime context before ecrt_master_activate().

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration.
key	Key as null-terminated ascii string.
value	Value to store.

Definition at line 1398 of file slave_config.c.

◆ ecrt_domain_reg_pdo_entry_list()

EC_PUBLIC_API int ecrt_domain_reg_pdo_entry_list	(	ec_domain_t *	domain,
		const ec_pdo_entry_reg_t *	pdo_entry_regs
	)

Registers a bunch of PDO entries for a domain.

This method has to be called in non-realtime context before ecrt_master_activate().

See also: ecrt_slave_config_reg_pdo_entry()

Attention: The registration array has to be terminated with an empty structure, or one with the index field set to zero!

Returns: 0 on success, else non-zero.

Parameters

domain	Domain.
pdo_entry_regs	Array of PDO registrations.

Definition at line 390 of file domain.c.

◆ ecrt_domain_size()

EC_PUBLIC_API size_t ecrt_domain_size ( const ec_domain_t * domain )

Returns the current size of the domain's process data.

Returns: Size of the process data image, or a negative error code.

Parameters

domain Domain.

Definition at line 419 of file domain.c.

◆ ecrt_domain_external_memory()

void ecrt_domain_external_memory	(	ec_domain_t *	domain,
		uint8_t *	memory
	)

Provide external memory to store the domain's process data.

Call this after all PDO entries have been registered and before activating the master.

The size of the allocated memory must be at least ecrt_domain_size(), after all PDO entries have been registered.

This method has to be called in non-realtime context before ecrt_master_activate().

Parameters

domain	Domain.
memory	Address of the memory to store the process data in.

Definition at line 426 of file domain.c.

◆ ecrt_domain_data()

EC_PUBLIC_API uint8_t* ecrt_domain_data ( const ec_domain_t * domain )

Returns the domain's process data.

In kernel context: If external memory was provided with ecrt_domain_external_memory(), the returned pointer will contain the address of that memory. Otherwise it will point to the internally allocated memory. In the latter case, this method may not be called before ecrt_master_activate().
In userspace context: This method has to be called after ecrt_master_activate() to get the mapped domain process data memory.

Returns: Pointer to the process data memory.

Parameters

domain Domain.

Definition at line 443 of file domain.c.

◆ ecrt_sdo_request_timeout()

EC_PUBLIC_API int ecrt_sdo_request_timeout	(	ec_sdo_request_t *	req,
		uint32_t	timeout
	)

Set the timeout for an SDO request.

If the request cannot be processed in the specified time, if will be marked as failed.

The timeout is permanently stored in the request object and is valid until the next call of this method.

The timeout should be defined in non-realtime context, but can also be changed afterwards.

Returns: 0 on success, otherwise negative error code.

Parameters

req	SDO request.
timeout	Timeout in milliseconds. Zero means no timeout.

Definition at line 191 of file sdo_request.c.

◆ ecrt_soe_request_timeout()

EC_PUBLIC_API int ecrt_soe_request_timeout	(	ec_soe_request_t *	req,
		uint32_t	timeout
	)

Set the timeout for an SoE request.

If the request cannot be processed in the specified time, if will be marked as failed.

The timeout is permanently stored in the request object and is valid until the next call of this method.

The timeout should be defined in non-realtime context, but can also be changed afterwards.

Returns: 0 on success, otherwise negative error code.

Parameters

req	SoE request.
timeout	Timeout in milliseconds. Zero means no timeout.

Definition at line 278 of file soe_request.c.

◆ ecrt_soe_request_data_size()

EC_PUBLIC_API size_t ecrt_soe_request_data_size ( const ec_soe_request_t * req )

Returns the current IDN data size.

When the SoE request is created, the data size is set to the size of the reserved memory. After a read operation the size is set to the size of the read data. The size is not modified in any other situation.

Returns: IDN data size in bytes.

Parameters

req	SoE request.

Definition at line 293 of file soe_request.c.

◆ ecrt_voe_handler_data()

EC_PUBLIC_API uint8_t* ecrt_voe_handler_data ( const ec_voe_handler_t * voe )

Access to the VoE handler's data.

This function returns a pointer to the VoE handler's internal memory, that points to the actual VoE data right after the VoE header (see ecrt_voe_handler_send_header()).

After a read operation was successful, the memory contains the received data. The size of the received data can be determined via ecrt_voe_handler_data_size().
Before a write operation is triggered, the data have to be written to the internal memory. Be sure, that the data fit into the memory. The reserved memory size is a parameter of ecrt_slave_config_create_voe_handler().

Attention: The returned pointer is not necessarily persistent: After a read operation, the internal memory may have been reallocated. This can be avoided by reserving enough memory via the size parameter of ecrt_slave_config_create_voe_handler().

Returns: Pointer to the internal memory.

Parameters

voe	VoE handler.

Definition at line 139 of file voe_handler.c.

◆ ecrt_voe_handler_data_size()

EC_PUBLIC_API size_t ecrt_voe_handler_data_size ( const ec_voe_handler_t * voe )

Returns the current data size.

The data size is the size of the VoE data without the header (see ecrt_voe_handler_send_header()).

When the VoE handler is created, the data size is set to the size of the reserved memory. At a write operation, the data size is set to the number of bytes to write. After a read operation the size is set to the size of the read data. The size is not modified in any other situation.

Returns: Data size in bytes.

Parameters

voe	VoE handler.

Definition at line 146 of file voe_handler.c.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ EC_HAVE_REDUNDANCY

◆ EC_HAVE_EMERGENCY

◆ EC_HAVE_REG_ACCESS

◆ EC_END

◆ EC_MAX_STRING_LENGTH

◆ EC_MAX_PORTS

◆ EC_TIMEVAL2NANO

◆ EC_COE_EMERGENCY_MSG_SIZE

◆ EC_READ_BIT

◆ EC_WRITE_BIT

◆ EC_READ_U8

◆ EC_READ_S8

◆ EC_READ_U16

◆ EC_READ_S16

◆ EC_READ_U32

◆ EC_READ_S32

◆ EC_READ_U64

◆ EC_READ_S64

◆ EC_WRITE_U8

◆ EC_WRITE_S8

◆ EC_WRITE_U16

◆ EC_WRITE_S16

◆ EC_WRITE_U32

◆ EC_WRITE_S32

◆ EC_WRITE_U64

◆ EC_WRITE_S64

Typedef Documentation

◆ ec_master_t

◆ ec_slave_config_t

◆ ec_domain_t

◆ ec_sdo_request_t

◆ ec_soe_request_t

◆ ec_voe_handler_t

◆ ec_reg_request_t

Enumeration Type Documentation

◆ ec_slave_port_desc_t

◆ ec_wc_state_t

◆ ec_direction_t

◆ ec_watchdog_mode_t

◆ ec_request_state_t

◆ ec_al_state_t

Function Documentation

◆ ecrt_version_magic()

◆ ecrt_request_master()

◆ ecrt_release_master()

◆ ecrt_master_callbacks()

◆ ecrt_master_create_domain()

◆ ecrt_master_slave_config()

◆ ecrt_master_select_reference_clock()

◆ ecrt_master()

◆ ecrt_master_scan_progress()

◆ ecrt_master_get_slave()

◆ ecrt_master_sdo_download()

◆ ecrt_master_sdo_download_complete()

◆ ecrt_master_sdo_upload()

◆ ecrt_master_write_idn()

◆ ecrt_master_read_idn()

◆ ecrt_master_activate()

◆ ecrt_master_deactivate()

◆ ecrt_master_set_send_interval()

◆ ecrt_master_send_ext()

◆ ecrt_master_state()

◆ ecrt_master_link_state()

◆ ecrt_master_reference_clock_time()

◆ ecrt_slave_config_sync_manager()

◆ ecrt_slave_config_watchdog()

◆ ecrt_slave_config_pdo_assign_add()

◆ ecrt_slave_config_pdo_assign_clear()

◆ ecrt_slave_config_pdo_mapping_add()

◆ ecrt_slave_config_pdo_mapping_clear()

◆ ecrt_slave_config_pdos()

◆ ecrt_slave_config_reg_pdo_entry()

◆ ecrt_slave_config_reg_pdo_entry_pos()