EtherCAT slave configuration methods. More...

Data Structures
struct	ec_al_timeout_t
	EtherCAT application-layer transition timeout. More...

Functions
int	ec_slave_config_prepare_fmmu (ec_slave_config_t sc, ec_domain_t domain, uint8_t sync_index, ec_direction_t dir)
	Prepares an FMMU configuration. More...

void	ec_slave_config_load_default_mapping (const ec_slave_config_t sc, ec_pdo_t pdo)
	Loads the default mapping for a PDO from the slave object.

void	ec_slave_config_init (ec_slave_config_t sc, ec_master_t master, uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code)
	Slave configuration constructor. More...

void	ec_slave_config_clear (ec_slave_config_t *sc)
	Slave configuration destructor. More...

int	ec_slave_config_attach (ec_slave_config_t *sc)
	Attaches the configuration to the addressed slave object. More...

void	ec_slave_config_detach (ec_slave_config_t *sc)
	Detaches the configuration from a slave object. More...

void	ec_slave_config_load_default_sync_config (ec_slave_config_t *sc)
	Loads the default PDO assignment from the slave object.

unsigned int	ec_slave_config_sdo_count (const ec_slave_config_t *sc)
	Get the number of SDO configurations. More...

const ec_sdo_request_t *	ec_slave_config_get_sdo_by_pos_const (const ec_slave_config_t *sc, unsigned int pos)
	Finds an SDO configuration via its position in the list. More...

unsigned int	ec_slave_config_idn_count (const ec_slave_config_t *sc)
	Get the number of IDN configurations. More...

const ec_soe_request_t *	ec_slave_config_get_idn_by_pos_const (const ec_slave_config_t *sc, unsigned int pos)
	Finds an IDN configuration via its position in the list. More...

unsigned int	ec_slave_config_flag_count (const ec_slave_config_t *sc)
	Get the number of feature flags. More...

const ec_flag_t *	ec_slave_config_get_flag_by_pos_const (const ec_slave_config_t *sc, unsigned int pos)
	Finds a flag via its position in the list. More...

ec_sdo_request_t *	ec_slave_config_find_sdo_request (ec_slave_config_t *sc, unsigned int pos)
	Finds a CoE SDO request via its position in the list. More...

ec_soe_request_t *	ec_slave_config_find_soe_request (ec_slave_config_t *sc, unsigned int pos)
	Finds a SoE request via its position in the list. More...

ec_reg_request_t *	ec_slave_config_find_reg_request (ec_slave_config_t *sc, unsigned int pos)
	Finds a register handler via its position in the list. More...

ec_voe_handler_t *	ec_slave_config_find_voe_handler (ec_slave_config_t *sc, unsigned int pos)
	Finds a VoE handler via its position in the list. More...

ec_flag_t *	ec_slave_config_find_flag (ec_slave_config_t sc, const char key)
	Finds a flag. More...

unsigned int	ec_slave_config_al_timeout (const ec_slave_config_t *sc, ec_slave_state_t from, ec_slave_state_t to)
	Return an AL state timeout. More...

int	ecrt_slave_config_sync_manager (ec_slave_config_t *sc, uint8_t sync_index, ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
	Configure a sync manager. More...

int	ecrt_slave_config_watchdog (ec_slave_config_t *sc, uint16_t divider, uint16_t intervals)
	Configure a slave's watchdog times. More...

int	ecrt_slave_config_pdo_assign_add (ec_slave_config_t *sc, uint8_t sync_index, uint16_t pdo_index)
	Add a PDO to a sync manager's PDO assignment. More...

int	ecrt_slave_config_pdo_assign_clear (ec_slave_config_t *sc, uint8_t sync_index)
	Clear a sync manager's PDO assignment. More...

int	ecrt_slave_config_pdo_mapping_add (ec_slave_config_t *sc, uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex, uint8_t entry_bit_length)
	Add a PDO entry to the given PDO's mapping. More...

int	ecrt_slave_config_pdo_mapping_clear (ec_slave_config_t *sc, uint16_t pdo_index)
	Clear the mapping of a given PDO. More...

int	ecrt_slave_config_pdos (ec_slave_config_t *sc, unsigned int n_syncs, const ec_sync_info_t syncs[])
	Specify a complete PDO configuration. More...

int	ecrt_slave_config_reg_pdo_entry (ec_slave_config_t sc, uint16_t index, uint8_t subindex, ec_domain_t domain, unsigned int *bit_position)
	Registers a PDO entry for process data exchange in a domain. More...

int	ecrt_slave_config_reg_pdo_entry_pos (ec_slave_config_t sc, uint8_t sync_index, unsigned int pdo_pos, unsigned int entry_pos, ec_domain_t domain, unsigned int *bit_position)
	Registers a PDO entry using its position. More...

int	ecrt_slave_config_dc (ec_slave_config_t *sc, uint16_t assign_activate, uint32_t sync0_cycle_time, int32_t sync0_shift_time, uint32_t sync1_cycle_time, int32_t sync1_shift_time)
	Configure distributed clocks. More...

int	ecrt_slave_config_sdo (ec_slave_config_t sc, uint16_t index, uint8_t subindex, const uint8_t data, size_t size)
	Add an SDO configuration. More...

int	ecrt_slave_config_sdo8 (ec_slave_config_t *sc, uint16_t index, uint8_t subindex, uint8_t value)
	Add a configuration value for an 8-bit SDO. More...

int	ecrt_slave_config_sdo16 (ec_slave_config_t *sc, uint16_t index, uint8_t subindex, uint16_t value)
	Add a configuration value for a 16-bit SDO. More...

int	ecrt_slave_config_sdo32 (ec_slave_config_t *sc, uint16_t index, uint8_t subindex, uint32_t value)
	Add a configuration value for a 32-bit SDO. More...

int	ecrt_slave_config_complete_sdo (ec_slave_config_t sc, uint16_t index, const uint8_t data, size_t size)
	Add configuration data for a complete SDO. More...

int	ecrt_slave_config_emerg_size (ec_slave_config_t *sc, size_t elements)
	Set the size of the CoE emergency ring buffer. More...

int	ecrt_slave_config_emerg_pop (ec_slave_config_t sc, uint8_t target)
	Read and remove one record from the CoE emergency ring buffer. More...

int	ecrt_slave_config_emerg_clear (ec_slave_config_t *sc)
	Clears CoE emergency ring buffer and the overrun counter. More...

int	ecrt_slave_config_emerg_overruns (const ec_slave_config_t *sc)
	Read the number of CoE emergency overruns. More...

ec_sdo_request_t *	ecrt_slave_config_create_sdo_request_err (ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
	Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return value.

ec_sdo_request_t *	ecrt_slave_config_create_sdo_request (ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
	Create an SDO request to exchange SDOs during realtime operation. More...

ec_soe_request_t *	ecrt_slave_config_create_soe_request_err (ec_slave_config_t *sc, uint8_t drive_no, uint16_t idn, size_t size)
	Same as ecrt_slave_config_create_soe_request(), but with ERR_PTR() return value.

ec_soe_request_t *	ecrt_slave_config_create_soe_request (ec_slave_config_t *sc, uint8_t drive_no, uint16_t idn, size_t size)
	Create an SoE request to exchange SoE IDNs during realtime operation. More...

ec_reg_request_t *	ecrt_slave_config_create_reg_request_err (ec_slave_config_t *sc, size_t size)
	Same as ecrt_slave_config_create_reg_request(), but with ERR_PTR() return value.

ec_reg_request_t *	ecrt_slave_config_create_reg_request (ec_slave_config_t *sc, size_t size)
	Create a register request to exchange EtherCAT register contents during realtime operation. More...

ec_voe_handler_t *	ecrt_slave_config_create_voe_handler_err (ec_slave_config_t *sc, size_t size)
	Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return value.

ec_voe_handler_t *	ecrt_slave_config_create_voe_handler (ec_slave_config_t *sc, size_t size)
	Create an VoE handler to exchange vendor-specific data during realtime operation. More...

int	ecrt_slave_config_state (const ec_slave_config_t sc, ec_slave_config_state_t state)
	Outputs the state of the slave configuration. More...

int	ecrt_slave_config_idn (ec_slave_config_t sc, uint8_t drive_no, uint16_t idn, ec_al_state_t state, const uint8_t data, size_t size)
	Add an SoE IDN configuration. More...

int	ecrt_slave_config_flag (ec_slave_config_t sc, const char key, int32_t value)
	Adds a feature flag to a slave configuration. More...

int	ecrt_slave_config_eoe_mac_address (ec_slave_config_t sc, const unsigned char mac_address)
	Sets the link/MAC address for Ethernet-over-EtherCAT (EoE) operation. More...

int	ecrt_slave_config_eoe_ip_address (ec_slave_config_t *sc, struct in_addr ip_address)
	Sets the IP address for Ethernet-over-EtherCAT (EoE) operation. More...

int	ecrt_slave_config_eoe_subnet_mask (ec_slave_config_t *sc, struct in_addr subnet_mask)
	Sets the subnet mask for Ethernet-over-EtherCAT (EoE) operation. More...

int	ecrt_slave_config_eoe_default_gateway (ec_slave_config_t *sc, struct in_addr gateway_address)
	Sets the gateway address for Ethernet-over-EtherCAT (EoE) operation. More...

int	ecrt_slave_config_eoe_dns_address (ec_slave_config_t *sc, struct in_addr dns_address)
	Sets the IPv4 address of the DNS server for Ethernet-over-EtherCAT (EoE) operation. More...

int	ecrt_slave_config_eoe_hostname (ec_slave_config_t sc, const char name)
	Sets the host name for Ethernet-over-EtherCAT (EoE) operation. More...

int	ecrt_slave_config_state_timeout (ec_slave_config_t *sc, ec_al_state_t from, ec_al_state_t to, unsigned int timeout_ms)
	Sets the application-layer state transition timeout in ms. More...

Detailed Description

EtherCAT slave configuration methods.

Definition in file slave_config.c.

Function Documentation

◆ ec_slave_config_prepare_fmmu()

int ec_slave_config_prepare_fmmu	(	ec_slave_config_t *	sc,
		ec_domain_t *	domain,
		uint8_t	sync_index,
		ec_direction_t	dir
	)

Prepares an FMMU configuration.

Configuration data for the FMMU is saved in the slave config structure and is written to the slave during the configuration. The FMMU configuration is done in a way, that the complete data range of the corresponding sync manager is covered. Seperate FMMUs are configured for each domain. If the FMMU configuration is already prepared, the function does nothing and returns with success.

Return values

>=0	Success, logical offset byte address.
<0	Error code.

Parameters

sc	Slave configuration.
domain	Domain.
sync_index	Sync manager index.
dir	PDO direction.

Definition at line 216 of file slave_config.c.

◆ ec_slave_config_init()

void ec_slave_config_init	(	ec_slave_config_t *	sc,
		ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position,
		uint32_t	vendor_id,
		uint32_t	product_code
	)

Slave configuration constructor.

See ecrt_master_slave_config() for the usage of the alias and position parameters.

Parameters

sc	Slave configuration.
master	EtherCAT master.
alias	Slave alias.
position	Slave position.
vendor_id	Expected vendor ID.
product_code	Expected product code.

Definition at line 72 of file slave_config.c.

◆ ec_slave_config_clear()

void ec_slave_config_clear ( ec_slave_config_t * sc )

Slave configuration destructor.

Clears and frees a slave configuration object.

Parameters

sc	Slave configuration.

Definition at line 126 of file slave_config.c.

◆ ec_slave_config_attach()

int ec_slave_config_attach ( ec_slave_config_t * sc )

Attaches the configuration to the addressed slave object.

Return values

0	Success.
<0	Error code.

Parameters

sc	Slave configuration.

Definition at line 254 of file slave_config.c.

◆ ec_slave_config_detach()

void ec_slave_config_detach ( ec_slave_config_t * sc )

Detaches the configuration from a slave object.

Parameters

sc	Slave configuration.

Definition at line 312 of file slave_config.c.

◆ ec_slave_config_sdo_count()

unsigned int ec_slave_config_sdo_count ( const ec_slave_config_t * sc )

Get the number of SDO configurations.

Returns: Number of SDO configurations.

Parameters

sc	Slave configuration.

Definition at line 418 of file slave_config.c.

◆ ec_slave_config_get_sdo_by_pos_const()

const ec_sdo_request_t* ec_slave_config_get_sdo_by_pos_const	(	const ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds an SDO configuration via its position in the list.

Const version.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
pos	Position in the list.

Definition at line 440 of file slave_config.c.

◆ ec_slave_config_idn_count()

unsigned int ec_slave_config_idn_count ( const ec_slave_config_t * sc )

Get the number of IDN configurations.

Returns: Number of SDO configurations.

Parameters

sc	Slave configuration.

Definition at line 462 of file slave_config.c.

◆ ec_slave_config_get_idn_by_pos_const()

const ec_soe_request_t* ec_slave_config_get_idn_by_pos_const	(	const ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds an IDN configuration via its position in the list.

Const version.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
pos	Position in the list.

Definition at line 484 of file slave_config.c.

◆ ec_slave_config_flag_count()

unsigned int ec_slave_config_flag_count ( const ec_slave_config_t * sc )

Get the number of feature flags.

Returns: Number of feature flags.

Parameters

sc	Slave configuration.

Definition at line 506 of file slave_config.c.

◆ ec_slave_config_get_flag_by_pos_const()

const ec_flag_t* ec_slave_config_get_flag_by_pos_const	(	const ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a flag via its position in the list.

Const version.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
pos	Position in the list.

Definition at line 528 of file slave_config.c.

◆ ec_slave_config_find_sdo_request()

ec_sdo_request_t* ec_slave_config_find_sdo_request	(	ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a CoE SDO request via its position in the list.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
pos	Position in the list.

Definition at line 550 of file slave_config.c.

◆ ec_slave_config_find_soe_request()

ec_soe_request_t* ec_slave_config_find_soe_request	(	ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a SoE request via its position in the list.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
pos	Position in the list.

Definition at line 572 of file slave_config.c.

◆ ec_slave_config_find_reg_request()

ec_reg_request_t* ec_slave_config_find_reg_request	(	ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a register handler via its position in the list.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
pos	Position in the list.

Definition at line 594 of file slave_config.c.

◆ ec_slave_config_find_voe_handler()

ec_voe_handler_t* ec_slave_config_find_voe_handler	(	ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a VoE handler via its position in the list.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
pos	Position in the list.

Definition at line 616 of file slave_config.c.

◆ ec_slave_config_find_flag()

ec_flag_t* ec_slave_config_find_flag	(	ec_slave_config_t *	sc,
		const char *	key
	)

Finds a flag.

Returns: Search result, or NULL.

Parameters

sc	Slave configuration.
key	Flag key.

Definition at line 638 of file slave_config.c.

◆ ec_slave_config_al_timeout()

unsigned int ec_slave_config_al_timeout	(	const ec_slave_config_t *	sc,
		ec_slave_state_t	from,
		ec_slave_state_t	to
	)

Return an AL state timeout.

Returns: Search result, or 0.

Definition at line 661 of file slave_config.c.

Data Structures

Functions

Detailed Description

Function Documentation

◆ ec_slave_config_prepare_fmmu()

◆ ec_slave_config_init()

◆ ec_slave_config_clear()

◆ ec_slave_config_attach()

◆ ec_slave_config_detach()

◆ ec_slave_config_sdo_count()

◆ ec_slave_config_get_sdo_by_pos_const()

◆ ec_slave_config_idn_count()

◆ ec_slave_config_get_idn_by_pos_const()

◆ ec_slave_config_flag_count()

◆ ec_slave_config_get_flag_by_pos_const()

◆ ec_slave_config_find_sdo_request()

◆ ec_slave_config_find_soe_request()

◆ ec_slave_config_find_reg_request()

◆ ec_slave_config_find_voe_handler()

◆ ec_slave_config_find_flag()

◆ ec_slave_config_al_timeout()