EtherCAT slave methods. More...

Functions
char *	ec_slave_sii_string (const ec_slave_t *slave, unsigned int index)
	Searches the string list for an index. More...

void	ec_slave_find_names_for_pdo (ec_slave_t slave, ec_pdo_t pdo)
	Find name for a PDO and its entries.

unsigned int	ec_slave_get_previous_port (const 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 (const 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 (const 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_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_attach_pdo_names (ec_slave_t *slave)
	Attach PDO names.

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	(	const 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 578 of file slave.c.

◆ ec_slave_get_previous_port()

unsigned int ec_slave_get_previous_port	(	const 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 813 of file slave.c.

◆ ec_slave_get_next_port()

unsigned int ec_slave_get_next_port	(	const 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 843 of file slave.c.

◆ ec_slave_calc_rtt_sum()

uint32_t ec_slave_calc_rtt_sum ( const 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 873 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 899 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 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_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_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_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_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.

Functions

Variables

Detailed Description

Function Documentation

◆ ec_slave_sii_string()

◆ ec_slave_get_previous_port()

◆ ec_slave_get_next_port()

◆ ec_slave_calc_rtt_sum()

◆ ec_slave_find_next_dc_slave()

◆ ec_slave_init()

◆ ec_slave_clear()

◆ ec_slave_clear_sync_managers()

◆ ec_slave_set_state()

◆ ec_slave_request_state()

◆ ec_slave_fetch_sii_strings()

◆ ec_slave_fetch_sii_general()

◆ ec_slave_fetch_sii_syncs()

◆ ec_slave_fetch_sii_pdos()

◆ ec_slave_get_sync()

◆ ec_slave_sdo_dict_info()

◆ ec_slave_get_sdo()

◆ ec_slave_get_sdo_const()

◆ ec_slave_get_sdo_by_pos_const()

◆ ec_slave_sdo_count()

◆ ec_slave_find_pdo()

◆ ec_slave_calc_port_delays()

◆ ec_slave_calc_transmission_delays_rec()