slave.h File Reference

EtherCAT slave structure. More...

Go to the source code of this file.

Data Structures
struct	ec_slave_port_t
	Slave port. More...
struct	ec_sii_t
	Slave information interface data. More...
struct	ec_slave
	EtherCAT slave. More...

Macros
#define	EC_SLAVE_INFO(slave, fmt, args...)
	Convenience macro for printing slave-specific information to syslog.
#define	EC_SLAVE_ERR(slave, fmt, args...)
	Convenience macro for printing slave-specific errors to syslog.
#define	EC_SLAVE_WARN(slave, fmt, args...)
	Convenience macro for printing slave-specific warnings to syslog.
#define	EC_SLAVE_DBG(slave, level, fmt, args...)
	Convenience macro for printing slave-specific debug messages to syslog.

Functions
void	ec_slave_init (ec_slave_t *, ec_master_t *, ec_device_index_t, uint16_t, uint16_t)
	Slave constructor.
void	ec_slave_clear (ec_slave_t *)
	Slave destructor.
void	ec_slave_clear_sync_managers (ec_slave_t *)
	Clear the sync manager array.
void	ec_slave_request_state (ec_slave_t *, ec_slave_state_t)
	Request a slave state and resets the error flag.
void	ec_slave_set_state (ec_slave_t *, ec_slave_state_t)
	Sets the application state of a slave.
int	ec_slave_fetch_sii_strings (ec_slave_t *, const uint8_t *, size_t)
	Fetches data from a STRING category.
int	ec_slave_fetch_sii_general (ec_slave_t *, const uint8_t *, size_t)
	Fetches data from a GENERAL category.
int	ec_slave_fetch_sii_syncs (ec_slave_t *, const uint8_t *, size_t)
	Fetches data from a SYNC MANAGER category.
int	ec_slave_fetch_sii_pdos (ec_slave_t *, const uint8_t *, size_t, ec_direction_t)
	Fetches data from a [RT]xPDO category.
ec_sync_t *	ec_slave_get_sync (ec_slave_t *, uint8_t)
	Get the sync manager given an index.
void	ec_slave_sdo_dict_info (const ec_slave_t *, unsigned int *, unsigned int *)
	Counts the total number of SDOs and entries in the dictionary.
ec_sdo_t *	ec_slave_get_sdo (ec_slave_t *, uint16_t)
	Get an SDO from the dictionary.
const ec_sdo_t *	ec_slave_get_sdo_const (const ec_slave_t *, uint16_t)
	Get an SDO from the dictionary.
const ec_sdo_t *	ec_slave_get_sdo_by_pos_const (const ec_slave_t *, uint16_t)
	Get an SDO from the dictionary, given its position in the list.
uint16_t	ec_slave_sdo_count (const ec_slave_t *)
	Get the number of SDOs in the dictionary.
const ec_pdo_t *	ec_slave_find_pdo (const ec_slave_t *, uint16_t)
	Finds a mapped PDO.
void	ec_slave_attach_pdo_names (ec_slave_t *)
	Attach PDO names.
void	ec_slave_calc_port_delays (ec_slave_t *)
	Calculates the port transmission delays.
void	ec_slave_calc_transmission_delays_rec (ec_slave_t *, uint32_t *)
	Recursively calculates transmission delays.

Detailed Description

EtherCAT slave structure.

Definition in file slave.h.

Macro Definition Documentation

EC_SLAVE_INFO

#define EC_SLAVE_INFO	(		slave,
			fmt,
			args... )

Value:

printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
        slave->ring_position, ##args)

Convenience macro for printing slave-specific information to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters

slave	EtherCAT slave
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 54 of file slave.h.

EC_SLAVE_ERR

#define EC_SLAVE_ERR	(		slave,
			fmt,
			args... )

Value:

printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
        slave->ring_position, ##args)

Convenience macro for printing slave-specific errors to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters

slave	EtherCAT slave
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 68 of file slave.h.

EC_SLAVE_WARN

#define EC_SLAVE_WARN	(		slave,
			fmt,
			args... )

Value:

printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
        slave->master->index, slave->ring_position, ##args)

Convenience macro for printing slave-specific warnings to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters

slave	EtherCAT slave
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 82 of file slave.h.

EC_SLAVE_DBG

#define EC_SLAVE_DBG	(		slave,
			level,
			fmt,
			args... )

Value:

do { \
    if (slave->master->debug_level >= level) { \
        printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
                slave->master->index, slave->ring_position, ##args); \
    } \
} while (0)

Convenience macro for printing slave-specific debug messages to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters

slave	EtherCAT slave
level	Debug level. Master's debug level must be >= level for output.
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 98 of file slave.h.

Function Documentation

ec_slave_init()

void ec_slave_init	(	ec_slave_t *	slave,
		ec_master_t *	master,
		ec_device_index_t	dev_idx,
		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
dev_idx	Device index.
ring_position	ring position
station_address	station address to configure

Definition at line 60 of file slave.c.

ec_slave_clear()

void ec_slave_clear

(

ec_slave_t *

slave

)

Slave destructor.

Clears and frees a slave object.

Parameters

slave

EtherCAT slave

Definition at line 169 of file slave.c.

ec_slave_clear_sync_managers()

void ec_slave_clear_sync_managers

(

ec_slave_t *

slave

)

Clear the sync manager array.

Parameters

slave

EtherCAT slave.

Definition at line 265 of file slave.c.

ec_slave_request_state()

void ec_slave_request_state	(	ec_slave_t *	slave,
		ec_slave_state_t	state )

Request a slave state and resets the error flag.

Parameters

slave	EtherCAT slave
state	new state

Definition at line 306 of file slave.c.

ec_slave_set_state()

void ec_slave_set_state	(	ec_slave_t *	slave,
		ec_slave_state_t	new_state )

Sets the application state of a slave.

Parameters

slave	EtherCAT slave
new_state	new application state

Definition at line 284 of file slave.c.

ec_slave_fetch_sii_strings()

int ec_slave_fetch_sii_strings	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size )

Fetches data from a STRING category.

Todo

range checking

Returns

0 in case of success, else < 0

Parameters

slave	EtherCAT slave
data	category data
data_size	number of bytes

Definition at line 322 of file slave.c.

ec_slave_fetch_sii_general()

int ec_slave_fetch_sii_general	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size )

Fetches data from a GENERAL category.

Returns

0 in case of success, else < 0

Parameters

slave	EtherCAT slave
data	category data
data_size	size in bytes

Definition at line 378 of file slave.c.

ec_slave_fetch_sii_syncs()

int ec_slave_fetch_sii_syncs	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size )

Fetches data from a SYNC MANAGER category.

Appends the sync managers described in the category to the existing ones.

Returns

0 in case of success, else < 0

Parameters

slave	EtherCAT slave.
data	Category data.
data_size	Number of bytes.

Definition at line 429 of file slave.c.

ec_slave_fetch_sii_pdos()

int ec_slave_fetch_sii_pdos	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size,
		ec_direction_t	dir )

Fetches data from a [RT]xPDO category.

Returns

0 in case of success, else < 0

Parameters

slave	EtherCAT slave
data	category data
data_size	number of bytes
dir	PDO direction.

Definition at line 495 of file slave.c.

ec_slave_get_sync()

ec_sync_t * ec_slave_get_sync	(	ec_slave_t *	slave,
		uint8_t	sync_index )

Get the sync manager given an index.

Returns

pointer to sync manager, or NULL.

Parameters

slave	EtherCAT slave.
sync_index	Sync manager index.

Definition at line 600 of file slave.c.

ec_slave_sdo_dict_info()

void ec_slave_sdo_dict_info	(	const ec_slave_t *	slave,
		unsigned int *	sdo_count,
		unsigned int *	entry_count )

Counts the total number of SDOs and entries in the dictionary.

Parameters

slave	EtherCAT slave
sdo_count	number of SDOs
entry_count	total number of entries

Definition at line 618 of file slave.c.

ec_slave_get_sdo()

ec_sdo_t * ec_slave_get_sdo	(	ec_slave_t *	slave,
		uint16_t	index )

Get an SDO from the dictionary.

Returns

The desired SDO, or NULL.

Parameters

slave	EtherCAT slave
index	SDO index

Definition at line 646 of file slave.c.

ec_slave_get_sdo_const()

const ec_sdo_t * ec_slave_get_sdo_const	(	const ec_slave_t *	slave,
		uint16_t	index )

Get an SDO from the dictionary.

const version.

Returns

The desired SDO, or NULL.

Parameters

slave	EtherCAT slave
index	SDO index

Definition at line 672 of file slave.c.

ec_slave_get_sdo_by_pos_const()

const ec_sdo_t * ec_slave_get_sdo_by_pos_const	(	const ec_slave_t *	slave,
		uint16_t	sdo_position )

Get an SDO from the dictionary, given its position in the list.

Returns

The desired SDO, or NULL.

Parameters

slave	EtherCAT slave.
sdo_position	SDO list position.

Definition at line 694 of file slave.c.

ec_slave_sdo_count()

uint16_t ec_slave_sdo_count

(

const ec_slave_t *

slave

)

Get the number of SDOs in the dictionary.

Returns

SDO count.

Parameters

slave

EtherCAT slave.

Definition at line 716 of file slave.c.

ec_slave_find_pdo()

const ec_pdo_t * ec_slave_find_pdo	(	const ec_slave_t *	slave,
		uint16_t	index )

Finds a mapped PDO.

Returns

The desired PDO object, or NULL.

Parameters

slave	Slave.
index	PDO index to find.

Definition at line 735 of file slave.c.

ec_slave_attach_pdo_names()

void ec_slave_attach_pdo_names

(

ec_slave_t *

slave

)

Attach PDO names.

Definition at line 791 of file slave.c.

ec_slave_calc_port_delays()

void ec_slave_calc_port_delays

(

ec_slave_t *

slave

)

Calculates the port transmission delays.

Parameters

slave

EtherCAT slave.

Definition at line 932 of file slave.c.

ec_slave_calc_transmission_delays_rec()

void ec_slave_calc_transmission_delays_rec	(	ec_slave_t *	slave,
		uint32_t *	delay )

Recursively calculates transmission delays.

Parameters

slave	Current slave.
delay	Sum of delays.

Definition at line 978 of file slave.c.