Global definitions and macros. More...

Go to the source code of this file.

Data Structures
struct	ec_sii_coe_details_t
	Slave information interface CANopen over EtherCAT details flags. More...

struct	ec_sii_general_flags_t
	Slave information interface general flags. More...

struct	ec_sync_signal_t
	EtherCAT slave sync signal configuration. More...

struct	ec_code_msg_t
	Code/Message pair. More...

Macros
#define	EC_IO_TIMEOUT 500
	Datagram timeout in microseconds. More...

#define	EC_BYTE_TRANSMISSION_TIME_NS 80
	Time to send a byte in nanoseconds. More...

#define	EC_FSM_RETRIES 3
	Number of state machine retries on datagram timeout. More...

#define	EC_WAIT_SDO_DICT 3
	Seconds to wait before fetching SDO dictionary after slave entered PREOP state. More...

#define	EC_STATE_STRING_SIZE 32
	Minimum size of a buffer used with ec_state_string(). More...

#define	EC_MAX_SII_SIZE 4096
	Maximum SII size in words, to avoid infinite reading. More...

#define	EC_RATE_COUNT 3
	Number of statistic rate intervals to maintain. More...

#define	EC_FRAME_HEADER_SIZE 2
	Size of an EtherCAT frame header. More...

#define	EC_DATAGRAM_HEADER_SIZE 10
	Size of an EtherCAT datagram header. More...

#define	EC_DATAGRAM_FOOTER_SIZE 2
	Size of an EtherCAT datagram footer. More...

#define	EC_ADDR_LEN 4
	Size of the EtherCAT address field. More...

#define	EC_MAX_DATA_SIZE
	Resulting maximum data size of a single datagram in a frame. More...

#define	EC_MBOX_HEADER_SIZE 6
	Mailbox header size. More...

#define	EC_FIRST_SII_CATEGORY_OFFSET 0x40
	Word offset of first SII category. More...

#define	EC_SYNC_PAGE_SIZE 8
	Size of a sync manager configuration page. More...

#define	EC_MAX_FMMUS 16
	Maximum number of FMMUs per slave. More...

#define	EC_FMMU_PAGE_SIZE 16
	Size of an FMMU configuration page. More...

#define	EC_SYNC_SIGNAL_COUNT 2
	Number of DC sync signals. More...

#define	EC_DATAGRAM_NAME_SIZE 20
	Size of the datagram description string. More...

#define	EC_SLAVE_STATE_MASK 0x0F
	Slave state mask. More...

#define	EC_INFO(fmt, args...) printk(KERN_INFO "EtherCAT: " fmt, ##args)
	Convenience macro for printing EtherCAT-specific information to syslog. More...

#define	EC_ERR(fmt, args...) printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
	Convenience macro for printing EtherCAT-specific errors to syslog. More...

#define	EC_WARN(fmt, args...) printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
	Convenience macro for printing EtherCAT-specific warnings to syslog. More...

#define	EC_DBG(fmt, args...) printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)
	Convenience macro for printing EtherCAT debug messages to syslog. More...

#define	EC_ABS(X) ((X) >= 0 ? (X) : -(X))
	Absolute value.

Typedefs
typedef struct ec_slave	ec_slave_t

Enumerations
enum	ec_slave_state_t { EC_SLAVE_STATE_UNKNOWN = 0x00, EC_SLAVE_STATE_INIT = 0x01, EC_SLAVE_STATE_PREOP = 0x02, EC_SLAVE_STATE_BOOT = 0x03, EC_SLAVE_STATE_SAFEOP = 0x04, EC_SLAVE_STATE_OP = 0x08, EC_SLAVE_STATE_ACK_ERR = 0x10 }
	State of an EtherCAT slave. More...

enum	{ EC_MBOX_AOE = 0x01, EC_MBOX_EOE = 0x02, EC_MBOX_COE = 0x04, EC_MBOX_FOE = 0x08, EC_MBOX_SOE = 0x10, EC_MBOX_VOE = 0x20 }
	Supported mailbox protocols. More...

enum	ec_slave_dc_range_t { EC_DC_32, EC_DC_64 }
	EtherCAT slave distributed clocks range. More...

enum	{ EC_SDO_ENTRY_ACCESS_PREOP, EC_SDO_ENTRY_ACCESS_SAFEOP, EC_SDO_ENTRY_ACCESS_OP, EC_SDO_ENTRY_ACCESS_COUNT }
	Access states for SDO entries. More...

enum	ec_device_index_t { EC_DEVICE_MAIN, EC_DEVICE_BACKUP }
	Master devices. More...

enum	ec_internal_request_state_t { EC_INT_REQUEST_INIT, EC_INT_REQUEST_QUEUED, EC_INT_REQUEST_BUSY, EC_INT_REQUEST_SUCCESS, EC_INT_REQUEST_FAILURE }
	Generic request state. More...

enum	ec_origin_t { EC_ORIG_INTERNAL, EC_ORIG_EXTERNAL }
	Origin type. More...

Functions
unsigned int	ec_master_count (void)
	Get the number of masters.

void	ec_print_data (const uint8_t *, size_t)
	Outputs frame contents for debugging purposes. More...

void	ec_print_data_diff (const uint8_t , const uint8_t , size_t)
	Outputs frame contents and differences for debugging purposes.

size_t	ec_state_string (uint8_t, char *, uint8_t)
	Prints slave states in clear text. More...

ssize_t	ec_mac_print (const uint8_t , char )
	Print a MAC address to a buffer. More...

int	ec_mac_is_zero (const uint8_t *)

ec_master_t *	ecrt_request_master_err (unsigned int)
	Request a master. More...

Variables
const char *	ec_device_names [2]
	Device names.

char *	ec_master_version_str
	Version string. More...

const ec_request_state_t	ec_request_state_translation_table []
	Global request state type translation table. More...

Detailed Description

Global definitions and macros.

Definition in file globals.h.

Macro Definition Documentation

◆ EC_IO_TIMEOUT

#define EC_IO_TIMEOUT 500

Datagram timeout in microseconds.

Definition at line 38 of file globals.h.

◆ EC_BYTE_TRANSMISSION_TIME_NS

#define EC_BYTE_TRANSMISSION_TIME_NS 80

Time to send a byte in nanoseconds.

t_ns = 1 / (100 MBit/s / 8 bit/byte) = 80 ns/byte

Definition at line 44 of file globals.h.

◆ EC_FSM_RETRIES

#define EC_FSM_RETRIES 3

Number of state machine retries on datagram timeout.

Definition at line 47 of file globals.h.

◆ EC_WAIT_SDO_DICT

#define EC_WAIT_SDO_DICT 3

Seconds to wait before fetching SDO dictionary after slave entered PREOP state.

Definition at line 51 of file globals.h.

◆ EC_STATE_STRING_SIZE

#define EC_STATE_STRING_SIZE 32

Minimum size of a buffer used with ec_state_string().

Definition at line 54 of file globals.h.

◆ EC_MAX_SII_SIZE

#define EC_MAX_SII_SIZE 4096

Maximum SII size in words, to avoid infinite reading.

Definition at line 57 of file globals.h.

◆ EC_RATE_COUNT

#define EC_RATE_COUNT 3

Number of statistic rate intervals to maintain.

Definition at line 60 of file globals.h.

◆ EC_FRAME_HEADER_SIZE

#define EC_FRAME_HEADER_SIZE 2

Size of an EtherCAT frame header.

Definition at line 67 of file globals.h.

◆ EC_DATAGRAM_HEADER_SIZE

#define EC_DATAGRAM_HEADER_SIZE 10

Size of an EtherCAT datagram header.

Definition at line 70 of file globals.h.

◆ EC_DATAGRAM_FOOTER_SIZE

#define EC_DATAGRAM_FOOTER_SIZE 2

Size of an EtherCAT datagram footer.

Definition at line 73 of file globals.h.

◆ EC_ADDR_LEN

#define EC_ADDR_LEN 4

Size of the EtherCAT address field.

Definition at line 76 of file globals.h.

◆ EC_MAX_DATA_SIZE

#define EC_MAX_DATA_SIZE

Value:

(ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \

- EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

EC_FRAME_HEADER_SIZE

#define EC_FRAME_HEADER_SIZE

Size of an EtherCAT frame header.

Definition: globals.h:67

EC_DATAGRAM_HEADER_SIZE

#define EC_DATAGRAM_HEADER_SIZE

Size of an EtherCAT datagram header.

Definition: globals.h:70

EC_DATAGRAM_FOOTER_SIZE

#define EC_DATAGRAM_FOOTER_SIZE

Size of an EtherCAT datagram footer.

Definition: globals.h:73

Resulting maximum data size of a single datagram in a frame.

Definition at line 79 of file globals.h.

◆ EC_MBOX_HEADER_SIZE

#define EC_MBOX_HEADER_SIZE 6

Mailbox header size.

Definition at line 83 of file globals.h.

◆ EC_FIRST_SII_CATEGORY_OFFSET

#define EC_FIRST_SII_CATEGORY_OFFSET 0x40

Word offset of first SII category.

Definition at line 86 of file globals.h.

◆ EC_SYNC_PAGE_SIZE

#define EC_SYNC_PAGE_SIZE 8

Size of a sync manager configuration page.

Definition at line 89 of file globals.h.

◆ EC_MAX_FMMUS

#define EC_MAX_FMMUS 16

Maximum number of FMMUs per slave.

Definition at line 92 of file globals.h.

◆ EC_FMMU_PAGE_SIZE

#define EC_FMMU_PAGE_SIZE 16

Size of an FMMU configuration page.

Definition at line 95 of file globals.h.

◆ EC_SYNC_SIGNAL_COUNT

#define EC_SYNC_SIGNAL_COUNT 2

Number of DC sync signals.

Definition at line 98 of file globals.h.

◆ EC_DATAGRAM_NAME_SIZE

#define EC_DATAGRAM_NAME_SIZE 20

Size of the datagram description string.

This is also used as the maximum lenth of EoE device names.

Definition at line 104 of file globals.h.

◆ EC_SLAVE_STATE_MASK

#define EC_SLAVE_STATE_MASK 0x0F

Slave state mask.

Apply this mask to a slave state byte to get the slave state without the error flag.

Definition at line 111 of file globals.h.

◆ EC_INFO

#define EC_INFO	(	fmt,
		args...
	)	printk(KERN_INFO "EtherCAT: " fmt, ##args)

Convenience macro for printing EtherCAT-specific information to syslog.

This will print the message in fmt with a prefixed "EtherCAT: ".

Parameters

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

Definition at line 205 of file globals.h.

◆ EC_ERR

#define EC_ERR	(	fmt,
		args...
	)	printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)

Convenience macro for printing EtherCAT-specific errors to syslog.

This will print the message in fmt with a prefixed "EtherCAT ERROR: ".

Parameters

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

Definition at line 215 of file globals.h.

◆ EC_WARN

#define EC_WARN	(	fmt,
		args...
	)	printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)

Convenience macro for printing EtherCAT-specific warnings to syslog.

This will print the message in fmt with a prefixed "EtherCAT WARNING: ".

Parameters

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

Definition at line 225 of file globals.h.

◆ EC_DBG

#define EC_DBG	(	fmt,
		args...
	)	printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)

Convenience macro for printing EtherCAT debug messages to syslog.

This will print the message in fmt with a prefixed "EtherCAT DEBUG: ".

Parameters

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

Definition at line 235 of file globals.h.

Typedef Documentation

◆ ec_slave_t

typedef struct ec_slave ec_slave_t

See also: ec_slave.

Definition at line 301 of file globals.h.

Enumeration Type Documentation

◆ ec_slave_state_t

enum ec_slave_state_t

State of an EtherCAT slave.

Enumerator
EC_SLAVE_STATE_UNKNOWN	unknown state
EC_SLAVE_STATE_INIT	INIT state (no mailbox communication, no IO)
EC_SLAVE_STATE_PREOP	PREOP state (mailbox communication, no IO)
EC_SLAVE_STATE_BOOT	Bootstrap state (mailbox communication, firmware update)
EC_SLAVE_STATE_SAFEOP	SAFEOP (mailbox communication and input update)
EC_SLAVE_STATE_OP	OP (mailbox communication and input/output update)
EC_SLAVE_STATE_ACK_ERR	Acknowledge/Error bit (no actual state)

Definition at line 115 of file globals.h.

◆ anonymous enum

anonymous enum

Supported mailbox protocols.

Enumerator
EC_MBOX_AOE	ADS over EtherCAT.
EC_MBOX_EOE	Ethernet over EtherCAT.
EC_MBOX_COE	CANopen over EtherCAT.
EC_MBOX_FOE	File-Access over EtherCAT.
EC_MBOX_SOE	Servo-Profile over EtherCAT.
EC_MBOX_VOE	Vendor specific.

Definition at line 134 of file globals.h.

◆ ec_slave_dc_range_t

enum ec_slave_dc_range_t

EtherCAT slave distributed clocks range.

Enumerator
EC_DC_32	32 bit.

Definition at line 163 of file globals.h.

◆ anonymous enum

anonymous enum

Access states for SDO entries.

The access rights are managed per AL state.

Enumerator
EC_SDO_ENTRY_ACCESS_PREOP	Access rights in PREOP.
EC_SDO_ENTRY_ACCESS_SAFEOP	Access rights in SAFEOP.
EC_SDO_ENTRY_ACCESS_OP	Access rights in OP.
EC_SDO_ENTRY_ACCESS_COUNT	Number of states.

Definition at line 180 of file globals.h.

◆ ec_device_index_t

enum ec_device_index_t

Master devices.

Enumerator
EC_DEVICE_MAIN	Main device.
EC_DEVICE_BACKUP	Backup device.

Definition at line 189 of file globals.h.

◆ ec_internal_request_state_t

enum ec_internal_request_state_t

Generic request state.

Attention: If ever changing this, please be sure to adjust the state_table in master/sdo_request.c.

Definition at line 278 of file globals.h.

◆ ec_origin_t

enum ec_origin_t

Origin type.

Enumerator
EC_ORIG_INTERNAL	Internal.
EC_ORIG_EXTERNAL	External.

Definition at line 294 of file globals.h.

Function Documentation

◆ ec_print_data()

void ec_print_data	(	const uint8_t *	data,
		size_t	size
	)

Outputs frame contents for debugging purposes.

If the data block is larger than 256 bytes, only the first 128 and the last 128 bytes will be shown

Parameters

data	pointer to data
size	number of bytes to output

Definition at line 348 of file module.c.

◆ ec_state_string()

size_t ec_state_string	(	uint8_t	states,
		char *	buffer,
		uint8_t	multi
	)

Prints slave states in clear text.

Returns: Size of the created string.

Parameters

states	slave states
buffer	target buffer (min. EC_STATE_STRING_SIZE bytes)
multi	Show multi-state mask.

Definition at line 405 of file module.c.

◆ ec_mac_print()

ssize_t ec_mac_print	(	const uint8_t *	mac,
		char *	buffer
	)

Print a MAC address to a buffer.

The buffer size must be at least EC_MAX_MAC_STRING_SIZE.

Returns: number of bytes written.

Parameters

mac	MAC address
buffer	Target buffer.

Definition at line 249 of file module.c.

◆ ec_mac_is_zero()

int ec_mac_is_zero ( const uint8_t * mac )

Returns: true, if the MAC address is all-zero.

Parameters

mac	MAC address.

Definition at line 270 of file module.c.

◆ ecrt_request_master_err()

ec_master_t* ecrt_request_master_err ( unsigned int master_index )

Request a master.

Same as ecrt_request_master(), but with ERR_PTR() return value.

Returns: Requested master.

Parameters

master_index Master index.

Definition at line 541 of file module.c.

Variable Documentation

◆ ec_master_version_str

char* ec_master_version_str

Version string.

Definition at line 72 of file module.c.

◆ ec_request_state_translation_table

const ec_request_state_t ec_request_state_translation_table[]

Global request state type translation table.

Translates an internal request state to an external one.

Definition at line 662 of file module.c.

Data Structures

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ EC_IO_TIMEOUT

◆ EC_BYTE_TRANSMISSION_TIME_NS

◆ EC_FSM_RETRIES

◆ EC_WAIT_SDO_DICT

◆ EC_STATE_STRING_SIZE

◆ EC_MAX_SII_SIZE

◆ EC_RATE_COUNT

◆ EC_FRAME_HEADER_SIZE

◆ EC_DATAGRAM_HEADER_SIZE

◆ EC_DATAGRAM_FOOTER_SIZE

◆ EC_ADDR_LEN

◆ EC_MAX_DATA_SIZE

◆ EC_MBOX_HEADER_SIZE

◆ EC_FIRST_SII_CATEGORY_OFFSET

◆ EC_SYNC_PAGE_SIZE

◆ EC_MAX_FMMUS

◆ EC_FMMU_PAGE_SIZE

◆ EC_SYNC_SIGNAL_COUNT

◆ EC_DATAGRAM_NAME_SIZE

◆ EC_SLAVE_STATE_MASK

◆ EC_INFO

◆ EC_ERR

◆ EC_WARN

◆ EC_DBG

Typedef Documentation

◆ ec_slave_t

Enumeration Type Documentation

◆ ec_slave_state_t

◆ anonymous enum

◆ ec_slave_dc_range_t

◆ anonymous enum

◆ ec_device_index_t

◆ ec_internal_request_state_t

◆ ec_origin_t

Function Documentation

◆ ec_print_data()

◆ ec_state_string()

◆ ec_mac_print()

◆ ec_mac_is_zero()

◆ ecrt_request_master_err()

Variable Documentation

◆ ec_master_version_str

◆ ec_request_state_translation_table