slave.c File Reference

EtherCAT slave methods. More...

Go to the source code of this file.

Functions
char *	ec_slave_sii_string (ec_slave_t *slave, unsigned int index)
	Searches the string list for an index. More...
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. More...
void	ec_slave_clear (ec_slave_t *slave)
	Slave destructor. More...
void	ec_slave_clear_sync_managers (ec_slave_t *slave)
	Clear the sync manager array. More...
void	ec_slave_set_state (ec_slave_t *slave, ec_slave_state_t new_state)
	Sets the application state of a slave. More...
void	ec_slave_request_state (ec_slave_t *slave, ec_slave_state_t state)
	Request a slave state and resets the error flag. More...
int	ec_slave_fetch_sii_strings (ec_slave_t *slave, const uint8_t *data, size_t data_size)
	Fetches data from a STRING category. More...
int	ec_slave_fetch_sii_general (ec_slave_t *slave, const uint8_t *data, size_t data_size)
	Fetches data from a GENERAL category. More...
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. More...
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. More...
ec_sync_t *	ec_slave_get_sync (ec_slave_t *slave, uint8_t sync_index)
	Get the sync manager given an index. More...
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. More...
ec_sdo_t *	ec_slave_get_sdo (ec_slave_t *slave, uint16_t index)
	Get an SDO from the dictionary. More...
const ec_sdo_t *	ec_slave_get_sdo_const (const ec_slave_t *slave, uint16_t index)
	Get an SDO from the dictionary. More...
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. More...
uint16_t	ec_slave_sdo_count (const ec_slave_t *slave)
	Get the number of SDOs in the dictionary. More...
const ec_pdo_t *	ec_slave_find_pdo (const ec_slave_t *slave, uint16_t index)
	Finds a mapped PDO. More...
void	ec_slave_find_names_for_pdo (ec_slave_t *slave, ec_pdo_t *pdo)
	Find name for a PDO and its entries.
void	ec_slave_attach_pdo_names (ec_slave_t *slave)
	Attach PDO names.
unsigned int	ec_slave_get_previous_port (ec_slave_t *slave, unsigned int port_index)
	Returns the previous connected port of a given port. More...
unsigned int	ec_slave_get_next_port (ec_slave_t *slave, unsigned int port_index)
	Returns the next connected port of a given port. More...
uint32_t	ec_slave_calc_rtt_sum (ec_slave_t *slave)
	Calculates the sum of round-trip-times of connected ports 1-3. More...
ec_slave_t *	ec_slave_find_next_dc_slave (ec_slave_t *slave)
	Finds the next slave supporting DC delay measurement. More...
void	ec_slave_calc_port_delays (ec_slave_t *slave)
	Calculates the port transmission delays. More...
void	ec_slave_calc_transmission_delays_rec (ec_slave_t *slave, uint32_t *delay)
	Recursively calculates transmission delays. More...

Variables
const ec_code_msg_t	al_status_messages []
	Application layer status messages.

Detailed Description

EtherCAT slave methods.

Definition in file slave.c.

Function Documentation

ec_slave_sii_string()

char * ec_slave_sii_string	(	ec_slave_t *	slave,
		unsigned int	index
	)

Searches the string list for an index.

Returns

0 in case of success, else < 0

Parameters

slave	EtherCAT slave
index	string index

Definition at line 568 of file slave.c.

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 62 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 170 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 255 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 274 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 296 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 312 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 368 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 419 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 485 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 590 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 608 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 636 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 662 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 684 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 706 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 725 of file slave.c.

ec_slave_get_previous_port()

unsigned int ec_slave_get_previous_port	(	ec_slave_t *	slave,
		unsigned int	port_index
	)

Returns the previous connected port of a given port.

Returns

Port index.

Parameters

slave	EtherCAT slave.
port_index	Port index.

Definition at line 803 of file slave.c.

ec_slave_get_next_port()

unsigned int ec_slave_get_next_port	(	ec_slave_t *	slave,
		unsigned int	port_index
	)

Returns the next connected port of a given port.

Returns

Port index.

Parameters

slave	EtherCAT slave.
port_index	Port index.

Definition at line 833 of file slave.c.

ec_slave_calc_rtt_sum()

uint32_t ec_slave_calc_rtt_sum

(

ec_slave_t *

slave

)

Calculates the sum of round-trip-times of connected ports 1-3.

Returns

Round-trip-time in ns.

Parameters

slave

EtherCAT slave.

Definition at line 863 of file slave.c.

ec_slave_find_next_dc_slave()

ec_slave_t* ec_slave_find_next_dc_slave

(

ec_slave_t *

slave

)

Finds the next slave supporting DC delay measurement.

Returns

Next DC slave, or NULL.

Parameters

slave

EtherCAT slave.

Definition at line 889 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 922 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 968 of file slave.c.