EtherCAT slave configuration structure. More...

Data Structures
struct	ec_slave_config
	EtherCAT slave configuration. More...

Macros
#define	EC_CONFIG_INFO(sc, fmt, args...)
	Convenience macro for printing configuration-specific information to syslog. More...

#define	EC_CONFIG_ERR(sc, fmt, args...)
	Convenience macro for printing configuration-specific errors to syslog. More...

#define	EC_CONFIG_WARN(sc, fmt, args...)
	Convenience macro for printing configuration-specific warnings to syslog. More...

#define	EC_CONFIG_DBG(sc, level, fmt, args...)
	Convenience macro for printing configuration-specific debug messages to syslog. More...

Functions
void	ec_slave_config_init (ec_slave_config_t , ec_master_t , uint16_t, uint16_t, uint32_t, uint32_t)
	Slave configuration constructor. More...

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

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

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

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

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

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

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

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

ec_sdo_request_t *	ec_slave_config_find_sdo_request (ec_slave_config_t *, unsigned int)
	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 *, unsigned int)
	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 *, unsigned int)
	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 *, unsigned int)
	Finds a VoE handler via its position in the list. More...

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

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

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

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

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

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

Detailed Description

EtherCAT slave configuration structure.

Definition in file slave_config.h.

Macro Definition Documentation

◆ EC_CONFIG_INFO

#define EC_CONFIG_INFO	(	sc,
		fmt,
		args...
	)

Value:

printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \

sc->alias, sc->position, ##args)

Convenience macro for printing configuration-specific information to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters

sc	EtherCAT slave configuration
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 54 of file slave_config.h.

◆ EC_CONFIG_ERR

#define EC_CONFIG_ERR	(	sc,
		fmt,
		args...
	)

Value:

printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \

sc->alias, sc->position, ##args)

Convenience macro for printing configuration-specific errors to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters

sc	EtherCAT slave configuration
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 68 of file slave_config.h.

◆ EC_CONFIG_WARN

#define EC_CONFIG_WARN	(	sc,
		fmt,
		args...
	)

Value:

printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \

sc->master->index, sc->alias, sc->position, ##args)

Convenience macro for printing configuration-specific warnings to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters

sc	EtherCAT slave configuration
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 82 of file slave_config.h.

◆ EC_CONFIG_DBG

#define EC_CONFIG_DBG	(	sc,
		level,
		fmt,
		args...
	)

Value:

do { \
        if (sc->master->debug_level >= level) { \
            printk(KERN_DEBUG "EtherCAT DEBUG %u %u:%u: " fmt, \
                    sc->master->index, sc->alias, sc->position, ##args); \
        } \
    } while (0)

Convenience macro for printing configuration-specific debug messages to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters

sc	EtherCAT slave configuration
level	Debug level. Master's debug level must be >= level for output.
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 99 of file slave_config.h.

Function Documentation

◆ 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_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

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ EC_CONFIG_INFO

◆ EC_CONFIG_ERR

◆ EC_CONFIG_WARN

◆ EC_CONFIG_DBG

Function Documentation

◆ ec_slave_config_init()

◆ ec_slave_config_clear()

◆ ec_slave_config_attach()

◆ 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()