domain.c File Reference

EtherCAT domain methods. More...

Go to the source code of this file.

Macros
#define	DEBUG_REDUNDANCY   0
	Extra debug output for redundancy functions.

Functions
void	ec_domain_clear_data (ec_domain_t *domain)
	Frees internally allocated memory. More...
int	ec_domain_add_datagram_pair (ec_domain_t *domain, uint32_t logical_offset, size_t data_size, uint8_t *data, const unsigned int used[])
	Allocates a domain datagram pair and appends it to the list. More...
int	shall_count (const ec_fmmu_config_t *cur_fmmu, const ec_fmmu_config_t *first_fmmu)
	Domain finish helper function. More...
int	data_changed (uint8_t *send_buffer, const ec_datagram_t *datagram, size_t offset, size_t size)
	Process received data.
void	ec_domain_init (ec_domain_t *domain, ec_master_t *master, unsigned int index)
	Domain constructor. More...
void	ec_domain_clear (ec_domain_t *domain)
	Domain destructor. More...
void	ec_domain_add_fmmu_config (ec_domain_t *domain, ec_fmmu_config_t *fmmu)
	Adds an FMMU configuration to the domain. More...
int	ec_domain_finish (ec_domain_t *domain, uint32_t base_address)
	Finishes a domain. More...
unsigned int	ec_domain_fmmu_count (const ec_domain_t *domain)
	Get the number of FMMU configurations of the domain.
const ec_fmmu_config_t *	ec_domain_find_fmmu (const ec_domain_t *domain, unsigned int pos)
	Get a certain FMMU configuration via its position in the list. More...
int	ecrt_domain_reg_pdo_entry_list (ec_domain_t *domain, const ec_pdo_entry_reg_t *regs)
	Registers a bunch of PDO entries for a domain. More...
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 *mem)
	Provide external memory to store the domain's process data. More...
uint8_t *	ecrt_domain_data (const ec_domain_t *domain)
	Returns the domain's process data. More...
int	ecrt_domain_process (ec_domain_t *domain)
	Determines the states of the domain's datagrams. More...
int	ecrt_domain_queue (ec_domain_t *domain)
	(Re-)queues all domain datagrams in the master's datagram queue. More...
int	ecrt_domain_state (const ec_domain_t *domain, ec_domain_state_t *state)
	Reads the state of a domain. More...

Detailed Description

EtherCAT domain methods.

Definition in file domain.c.

Function Documentation

ec_domain_clear_data()

void ec_domain_clear_data

(

ec_domain_t *

domain

)

Frees internally allocated memory.

Parameters

domain

EtherCAT domain.

Definition at line 105 of file domain.c.

ec_domain_add_datagram_pair()

int ec_domain_add_datagram_pair	(	ec_domain_t *	domain,
		uint32_t	logical_offset,
		size_t	data_size,
		uint8_t *	data,
		const unsigned int	used[]
	)

Allocates a domain datagram pair and appends it to the list.

The datagrams' types and expected working counters are determined by the number of input and output fmmus that share the datagrams.

Return values

0	Success.
<0	Error code.

Parameters

domain	EtherCAT domain.
logical_offset	Logical offset.
data_size	Size of the data.
data	Process data.
used	Slave config counter for in/out.

Definition at line 146 of file domain.c.

shall_count()

int shall_count	(	const ec_fmmu_config_t *	cur_fmmu,
		const ec_fmmu_config_t *	first_fmmu
	)

Domain finish helper function.

Detects, if a slave configuration has already been taken into account for a datagram's expected working counter calculation.

Walks through the list of all FMMU configurations for the current datagram and ends before the current datagram.

Returns

Non-zero if slave connfig was already counted.

Parameters

cur_fmmu	Current FMMU with direction to search for.
first_fmmu	Datagram's first FMMU.

Definition at line 194 of file domain.c.

ec_domain_init()

void ec_domain_init	(	ec_domain_t *	domain,
		ec_master_t *	master,
		unsigned int	index
	)

Domain constructor.

Parameters

domain	EtherCAT domain.
master	Parent master.
index	Index.

Definition at line 57 of file domain.c.

ec_domain_clear()

void ec_domain_clear

(

ec_domain_t *

domain

)

Domain destructor.

Parameters

domain

EtherCAT domain

Definition at line 87 of file domain.c.

ec_domain_add_fmmu_config()

void ec_domain_add_fmmu_config	(	ec_domain_t *	domain,
		ec_fmmu_config_t *	fmmu
	)

Adds an FMMU configuration to the domain.

Parameters

domain	EtherCAT domain.
fmmu	FMMU configuration.

Definition at line 121 of file domain.c.

ec_domain_finish()

int ec_domain_finish	(	ec_domain_t *	domain,
		uint32_t	base_address
	)

Finishes a domain.

This allocates the necessary datagrams and writes the correct logical addresses to every configured FMMU.

Todo:

Check for FMMUs that do not fit into any datagram.

Return values

0	Success
<0	Error code.

Parameters

domain	EtherCAT domain.
base_address	Logical base address.

Definition at line 225 of file domain.c.

ec_domain_find_fmmu()

const ec_fmmu_config_t* ec_domain_find_fmmu	(	const ec_domain_t *	domain,
		unsigned int	pos
	)

Get a certain FMMU configuration via its position in the list.

Returns

FMMU at position pos, or NULL.

Parameters

domain	EtherCAT domain.
pos	List position.

Definition at line 349 of file domain.c.