EtherCAT master methods. More...

Macros
#define	ec_rt_lock_interruptible(lock) rt_mutex_lock_interruptible(lock)

#define	DEBUG_INJECT 0
	Set to 1 to enable external datagram injection debugging.

#define	FORCE_OUTPUT_CORRUPTED 0
	Always output corrupted frames.

#define	EC_SDO_INJECTION_TIMEOUT 10000
	SDO injection timeout in microseconds. More...

#define	EC_SII_CACHING_MASK
	SII caching mask (combination of valid flags). More...

#define	EC_FIND_SLAVE
	Common implementation for ec_master_find_slave() and ec_master_find_slave_const(). More...

#define	EC_FIND_CONFIG
	Common implementation for ec_master_get_config() and ec_master_get_config_const(). More...

#define	EC_FIND_DOMAIN
	Common implementation for ec_master_find_domain() and ec_master_find_domain_const(). More...

Functions
void	ec_master_clear_config (ec_master_t *master)
	Clear the configuration applied by the application. More...

void	ec_master_clear_sii_cache (ec_master_t *master)
	Clear SII page cache.

void	ec_master_clear_slave_configs (ec_master_t *master)
	Clear all slave configurations.

void	ec_master_clear_domains (ec_master_t *master)
	Clear all domains.

int	ec_master_thread_start (ec_master_t master, int(thread_func)(void ), const char name)
	Starts the master thread. More...

void	ec_master_thread_stop (ec_master_t *master)
	Stops the master thread. More...

void	ec_master_inject_external_datagrams (ec_master_t *master)
	Injects external datagrams that fit into the datagram queue. More...

ec_datagram_t *	ec_master_get_external_datagram (ec_master_t *master)
	Searches for a free datagram in the external datagram ring. More...

void	ec_master_exec_slave_fsms (ec_master_t *master)
	Execute slave FSMs. More...

void	ec_master_send_datagrams (ec_master_t *master, ec_device_index_t device_index)
	Sends the datagrams in the queue for a certain device. More...

int	ec_master_calc_topology_rec (ec_master_t master, ec_slave_t port0_slave, unsigned int *slave_position)
	Calculates the bus topology; recursion function. More...

void	ec_master_calc_topology (ec_master_t *master)
	Calculates the bus topology. More...

void	ec_master_calc_transmission_delays (ec_master_t *master)
	Calculates the bus transmission delays. More...

static int	ec_master_idle_thread (void *priv_data)
	Master kernel thread function for IDLE phase.

static int	ec_master_operation_thread (void *priv_data)
	Master kernel thread function for OPERATION phase.

static int	ec_master_eoe_thread (void *priv_data)
	Does the Ethernet over EtherCAT processing.

void	ec_master_find_dc_ref_clock (ec_master_t *master)
	Finds the DC reference clock. More...

void	ec_master_clear_device_stats (ec_master_t *master)
	Clears the common device statistics. More...

void	ec_master_update_device_stats (ec_master_t *master)
	Updates the common device statistics. More...

void	ec_master_nanosleep (const unsigned long)

int	ec_master_cached_sii_page_matches (const ec_master_t master, const ec_sii_page_t cached_page, uint32_t vendor_id, uint32_t product_code, uint32_t revision, uint32_t serial, uint16_t alias)
	Check if a cached SII page is matching the caching criteria. More...

static void	sc_reset_task_kicker (struct irq_work *work)

static void	sc_reset_task (struct work_struct *work)

void	ec_master_init_static (void)
	Static variables initializer.

int	ec_master_init (ec_master_t master, unsigned int index, const uint8_t main_mac, const uint8_t backup_mac, dev_t device_number, struct class class, unsigned int debug_level, unsigned int run_on_cpu, unsigned int sii_caching)
	Master constructor. More...

void	ec_master_clear (ec_master_t *master)
	Destructor. More...

void	ec_master_clear_eoe_handlers (ec_master_t *master)
	Clear and free all EoE handlers. More...

void	ec_master_clear_slaves (ec_master_t *master)
	Clear all slaves.

void	ec_master_internal_send_cb (void *cb_data)
	Internal sending callback. More...

void	ec_master_internal_receive_cb (void *cb_data)
	Internal receiving callback. More...

int	ec_master_enter_idle_phase (ec_master_t *master)
	Transition function from ORPHANED to IDLE phase. More...

void	ec_master_leave_idle_phase (ec_master_t *master)
	Transition function from IDLE to ORPHANED phase. More...

int	ec_master_enter_operation_phase (ec_master_t *master)
	Transition function from IDLE to OPERATION phase. More...

void	ec_master_leave_operation_phase (ec_master_t *master)
	Transition function from OPERATION to IDLE phase. More...

void	ec_master_set_send_interval (ec_master_t *master, unsigned int send_interval)
	Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue. More...

void	ec_master_queue_datagram (ec_master_t master, ec_datagram_t datagram)
	Places a datagram in the datagram queue. More...

void	ec_master_queue_datagram_ext (ec_master_t master, ec_datagram_t datagram)
	Places a datagram in the non-application datagram queue. More...

static int	ec_master_mbox_store (ec_mbox_data_t mbox_data, const uint8_t data, size_t size)
	Stores a received mailbox response in a protocol-specific buffer. More...

static int	ec_master_mbox_dispatch (ec_master_t master, const uint8_t data, size_t size, uint16_t slave_addr, uint16_t offset_addr)
	Common mailbox dispatcher for mailboxes read via the station address. More...

void	ec_master_receive_datagrams (ec_master_t master, ec_device_t device, const uint8_t *frame_data, size_t size)
	Processes a received frame. More...

void	ec_master_output_stats (ec_master_t *master)
	Output master statistics. More...

static void	set_normal_priority (struct task_struct *p, int nice)

void	ec_master_eoe_start (ec_master_t *master)
	Starts Ethernet over EtherCAT processing on demand. More...

void	ec_master_eoe_stop (ec_master_t *master)
	Stops the Ethernet over EtherCAT processing. More...

void	ec_master_attach_slave_configs (ec_master_t *master)
	Attaches the slave configurations to the slaves. More...

ec_slave_t *	ec_master_find_slave (ec_master_t *master, uint16_t alias, uint16_t position)
	Finds a slave in the bus, given the alias and position. More...

const ec_slave_t *	ec_master_find_slave_const (const ec_master_t *master, uint16_t alias, uint16_t position)
	Finds a slave in the bus, given the alias and position. More...

ec_slave_config_t *	ec_master_find_config_for_slave (ec_master_t master, const ec_slave_t slave)
	Finds the slave configuration that will be attached to the given slave. More...

unsigned int	ec_master_config_count (const ec_master_t *master)
	Get the number of slave configurations provided by the application. More...

ec_slave_config_t *	ec_master_get_config (const ec_master_t *master, unsigned int pos)
	Get a slave configuration via its position in the list. More...

const ec_slave_config_t *	ec_master_get_config_const (const ec_master_t *master, unsigned int pos)
	Get a slave configuration via its position in the list. More...

unsigned int	ec_master_domain_count (const ec_master_t *master)
	Get the number of domains. More...

ec_domain_t *	ec_master_find_domain (ec_master_t *master, unsigned int index)
	Get a domain via its position in the list. More...

const ec_domain_t *	ec_master_find_domain_const (const ec_master_t *master, unsigned int index)
	Get a domain via its position in the list. More...

uint16_t	ec_master_eoe_handler_count (const ec_master_t *master)
	Get the number of EoE handlers. More...

const ec_eoe_t *	ec_master_get_eoe_handler_const (const ec_master_t *master, uint16_t index)
	Get an EoE handler via its position in the list. More...

int	ec_master_debug_level (ec_master_t *master, unsigned int level)
	Set the debug level. More...

void	ec_master_calc_dc (ec_master_t *master)
	Distributed-clocks calculations. More...

void	ec_master_request_op (ec_master_t *master)
	Request OP state for configured slaves. More...

ec_sii_page_t *	ec_master_find_cached_sii_page (const ec_master_t *master, uint32_t vendor_id, uint32_t product_code, uint32_t revision, uint32_t serial, uint16_t alias)
	Find a matching cached SII page. More...

int	ec_master_cache_sii_page (ec_master_t master, const ec_sii_page_t page)
	Add an SII page to the cache. More...

ec_domain_t *	ecrt_master_create_domain_err (ec_master_t *master)
	Same as ecrt_master_create_domain(), but with ERR_PTR() return value. More...

ec_domain_t *	ecrt_master_create_domain (ec_master_t *master)
	Creates a new process data domain. More...

int	ecrt_master_activate (ec_master_t *master)
	Finishes the configuration phase and prepares for cyclic operation. More...

int	ecrt_master_deactivate (ec_master_t *master)
	Deactivates the master. More...

int	ecrt_master_send (ec_master_t *master)
	Sends all datagrams in the queue. More...

int	ecrt_master_receive (ec_master_t *master)
	Fetches received frames from the hardware and processes the datagrams. More...

int	ecrt_master_send_ext (ec_master_t *master)
	Sends non-application datagrams. More...

ec_slave_config_t *	ecrt_master_slave_config_err (ec_master_t *master, uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code)
	Same as ecrt_master_slave_config(), but with ERR_PTR() return value.

ec_slave_config_t *	ecrt_master_slave_config (ec_master_t *master, uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code)
	Obtains a slave configuration. More...

int	ecrt_master_select_reference_clock (ec_master_t master, ec_slave_config_t sc)
	Selects the reference clock for distributed clocks. More...

int	ecrt_master (ec_master_t master, ec_master_info_t master_info)
	Obtains master information. More...

int	ecrt_master_scan_progress (ec_master_t master, ec_master_scan_progress_t progress)
	Obtains network scan progress information. More...

int	ecrt_master_get_slave (ec_master_t master, uint16_t slave_position, ec_slave_info_t slave_info)
	Obtains slave information. More...

void	ecrt_master_callbacks (ec_master_t master, void(send_cb)(void ), void(receive_cb)(void ), void cb_data)
	Sets the locking callbacks. More...

int	ecrt_master_state (const ec_master_t master, ec_master_state_t state)
	Reads the current master state. More...

int	ecrt_master_link_state (const ec_master_t master, unsigned int dev_idx, ec_master_link_state_t state)
	Reads the current state of a redundant link. More...

int	ecrt_master_application_time (ec_master_t *master, uint64_t app_time)
	Sets the application time. More...

int	ecrt_master_reference_clock_time (const ec_master_t master, uint32_t time)
	Get the lower 32 bit of the reference clock system time. More...

int	ecrt_master_sync_reference_clock (ec_master_t *master)
	Queues the DC reference clock drift compensation datagram for sending. More...

int	ecrt_master_sync_reference_clock_to (ec_master_t *master, uint64_t sync_time)
	Queues the DC reference clock drift compensation datagram for sending. More...

int	ecrt_master_sync_slave_clocks (ec_master_t *master)
	Queues the DC clock drift compensation datagram for sending. More...

int	ecrt_master_sync_monitor_queue (ec_master_t *master)
	Queues the DC synchrony monitoring datagram for sending. More...

uint32_t	ecrt_master_sync_monitor_process (const ec_master_t *master)
	Processes the DC synchrony monitoring datagram. More...

int	ecrt_master_sdo_download (ec_master_t master, uint16_t slave_position, uint16_t index, uint8_t subindex, const uint8_t data, size_t data_size, uint32_t *abort_code)
	Executes an SDO download request to write data to a slave. More...

int	ecrt_master_sdo_download_complete (ec_master_t master, uint16_t slave_position, uint16_t index, const uint8_t data, size_t data_size, uint32_t *abort_code)
	Executes an SDO download request to write data to a slave via complete access. More...

int	ecrt_master_sdo_upload (ec_master_t master, uint16_t slave_position, uint16_t index, uint8_t subindex, uint8_t target, size_t target_size, size_t result_size, uint32_t abort_code)
	Executes an SDO upload request to read data from a slave. More...

int	ecrt_master_write_idn (ec_master_t master, uint16_t slave_position, uint8_t drive_no, uint16_t idn, const uint8_t data, size_t data_size, uint16_t *error_code)
	Executes an SoE write request. More...

int	ecrt_master_read_idn (ec_master_t master, uint16_t slave_position, uint8_t drive_no, uint16_t idn, uint8_t target, size_t target_size, size_t result_size, uint16_t error_code)
	Executes an SoE read request. More...

int	ecrt_master_reset (ec_master_t *master)
	Retry configuring slaves. More...

int	ecrt_master_sii_caching (ec_master_t *master, ec_sii_caching_fields_t fields)
	Set the SII caching method. More...

Variables
static unsigned long	timeout_jiffies
	Frame timeout in jiffies.

static unsigned long	ext_injection_timeout_jiffies
	Timeout for external datagram injection [jiffies].

const unsigned int	rate_intervals []
	List of intervals for statistics [s]. More...

Detailed Description

EtherCAT master methods.

Definition in file master.c.

Macro Definition Documentation

◆ EC_SDO_INJECTION_TIMEOUT

#define EC_SDO_INJECTION_TIMEOUT 10000

SDO injection timeout in microseconds.

Definition at line 80 of file master.c.

◆ EC_SII_CACHING_MASK

#define EC_SII_CACHING_MASK

Value:

(EC_SII_VENDOR | EC_SII_PRODUCT | \

EC_SII_REVISION | EC_SII_SERIAL | EC_SII_ALIAS)

EC_SII_PRODUCT

Use vendor ID.

Definition: ecrt.h:685

EC_SII_SERIAL

Use revision number.

Definition: ecrt.h:687

EC_SII_VENDOR

Disable SII caching.

Definition: ecrt.h:684

EC_SII_ALIAS

Use serial number.

Definition: ecrt.h:688

SII caching mask (combination of valid flags).

Definition at line 83 of file master.c.

◆ EC_FIND_SLAVE

#define EC_FIND_SLAVE

Value:

do { \
        if (alias) { \
            for (; slave < master->slaves + master->slave_count; \
                    slave++) { \
                if (slave->effective_alias == alias) \
                break; \
            } \
            if (slave == master->slaves + master->slave_count) \
            return NULL; \
        } \
        \
        slave += position; \
        if (slave < master->slaves + master->slave_count) { \
            return slave; \
        } else { \
            return NULL; \
        } \
    } while (0)

Common implementation for ec_master_find_slave() and ec_master_find_slave_const().

Definition at line 1986 of file master.c.

◆ EC_FIND_CONFIG

#define EC_FIND_CONFIG

Value:

do { \
        list_for_each_entry(sc, &master->configs, list) { \
            if (pos--) \
                continue; \
            return sc; \
        } \
        return NULL; \
    } while (0)

Common implementation for ec_master_get_config() and ec_master_get_config_const().

Definition at line 2101 of file master.c.

◆ EC_FIND_DOMAIN

#define EC_FIND_DOMAIN

Value:

do { \
        list_for_each_entry(domain, &master->domains, list) { \
            if (index--) \
                continue; \
            return domain; \
        } \
        \
        return NULL; \
    } while (0)

Common implementation for ec_master_find_domain() and ec_master_find_domain_const().

Definition at line 2164 of file master.c.

Function Documentation

◆ ec_master_clear_config()

void ec_master_clear_config ( ec_master_t * master )

Clear the configuration applied by the application.

Parameters

master EtherCAT master.

Definition at line 571 of file master.c.

◆ ec_master_thread_start()

int ec_master_thread_start	(	ec_master_t *	master,
		int()(void )	thread_func,
		const char *	name
	)

Starts the master thread.

Return values

0	Success.
<0	Error code.

Parameters

master	EtherCAT master
thread_func	thread function to start
name	Thread name.

Definition at line 618 of file master.c.

◆ ec_master_thread_stop()

void ec_master_thread_stop ( ec_master_t * master )

Stops the master thread.

Parameters

master EtherCAT master

Definition at line 648 of file master.c.

◆ ec_master_inject_external_datagrams()

void ec_master_inject_external_datagrams ( ec_master_t * master )

Injects external datagrams that fit into the datagram queue.

Parameters

master EtherCAT master

Definition at line 830 of file master.c.

◆ ec_master_get_external_datagram()

ec_datagram_t * ec_master_get_external_datagram ( ec_master_t * master )

Searches for a free datagram in the external datagram ring.

Returns: Next free datagram, or NULL.

Parameters

master EtherCAT master

Definition at line 961 of file master.c.

◆ ec_master_exec_slave_fsms()

void ec_master_exec_slave_fsms ( ec_master_t * master )

Execute slave FSMs.

Parameters

master EtherCAT master.

Definition at line 1615 of file master.c.

◆ ec_master_send_datagrams()

void ec_master_send_datagrams	(	ec_master_t *	master,
		ec_device_index_t	device_index
	)

Sends the datagrams in the queue for a certain device.

Parameters

master	EtherCAT master
device_index	Device index.

Definition at line 1030 of file master.c.

◆ ec_master_calc_topology_rec()

int ec_master_calc_topology_rec	(	ec_master_t *	master,
		ec_slave_t *	port0_slave,
		unsigned int *	slave_position
	)

Calculates the bus topology; recursion function.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
port0_slave	Slave at port 0.
slave_position	Slave position.

Definition at line 2366 of file master.c.

◆ ec_master_calc_topology()

void ec_master_calc_topology ( ec_master_t * master )

Calculates the bus topology.

Parameters

master EtherCAT master.

Definition at line 2409 of file master.c.

◆ ec_master_calc_transmission_delays()

void ec_master_calc_transmission_delays ( ec_master_t * master )

Calculates the bus transmission delays.

Parameters

master EtherCAT master.

Definition at line 2426 of file master.c.

◆ ec_master_find_dc_ref_clock()

void ec_master_find_dc_ref_clock ( ec_master_t * master )

Finds the DC reference clock.

Parameters

master EtherCAT master.

Definition at line 2281 of file master.c.

◆ ec_master_clear_device_stats()

void ec_master_clear_device_stats ( ec_master_t * master )

Clears the common device statistics.

Parameters

master EtherCAT master

Definition at line 1479 of file master.c.

◆ ec_master_update_device_stats()

void ec_master_update_device_stats ( ec_master_t * master )

Updates the common device statistics.

Parameters

master EtherCAT master

Definition at line 1511 of file master.c.

◆ ec_master_cached_sii_page_matches()

int ec_master_cached_sii_page_matches	(	const ec_master_t *	master,
		const ec_sii_page_t *	cached_page,
		uint32_t	vendor_id,
		uint32_t	product_code,
		uint32_t	revision,
		uint32_t	serial,
		uint16_t	alias
	)

Check if a cached SII page is matching the caching criteria.

Returns non-zero if matching.

Parameters

master	EtherCAT master.
cached_page	SII page.

Definition at line 2502 of file master.c.

◆ ec_master_init()

int ec_master_init	(	ec_master_t *	master,
		unsigned int	index,
		const uint8_t *	main_mac,
		const uint8_t *	backup_mac,
		dev_t	device_number,
		struct class *	class,
		unsigned int	debug_level,
		unsigned int	run_on_cpu,
		unsigned int	sii_caching
	)

Master constructor.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
index	master index
main_mac	MAC address of main device
backup_mac	MAC address of backup device
device_number	Character device number.
class	Device class.
debug_level	Debug level (module parameter).
run_on_cpu	Bind created kernel threads to a cpu.
sii_caching	SII caching mode.

Definition at line 170 of file master.c.

◆ ec_master_clear()

void ec_master_clear ( ec_master_t * master )

Destructor.

Parameters

master EtherCAT master

Definition at line 416 of file master.c.

◆ ec_master_clear_eoe_handlers()

void ec_master_clear_eoe_handlers ( ec_master_t * master )

Clear and free all EoE handlers.

Parameters

master EtherCAT master

Definition at line 463 of file master.c.

◆ ec_master_internal_send_cb()

void ec_master_internal_send_cb ( void * cb_data )

Internal sending callback.

Parameters

cb_data Callback data.

Definition at line 585 of file master.c.

◆ ec_master_internal_receive_cb()

void ec_master_internal_receive_cb ( void * cb_data )

Internal receiving callback.

Parameters

cb_data Callback data.

Definition at line 600 of file master.c.

◆ ec_master_enter_idle_phase()

int ec_master_enter_idle_phase ( ec_master_t * master )

Transition function from ORPHANED to IDLE phase.

Returns: Zero on success, otherwise a negative error code.

Parameters

master EtherCAT master

Definition at line 680 of file master.c.

◆ ec_master_leave_idle_phase()

void ec_master_leave_idle_phase ( ec_master_t * master )

Transition function from IDLE to ORPHANED phase.

Parameters

master EtherCAT master

Definition at line 713 of file master.c.

◆ ec_master_enter_operation_phase()

int ec_master_enter_operation_phase ( ec_master_t * master )

Transition function from IDLE to OPERATION phase.

Returns: Zero on success, otherwise a negative error code.

Parameters

master EtherCAT master

Definition at line 737 of file master.c.

◆ ec_master_leave_operation_phase()

void ec_master_leave_operation_phase ( ec_master_t * master )

Transition function from OPERATION to IDLE phase.

Parameters

master EtherCAT master

Definition at line 808 of file master.c.

◆ ec_master_set_send_interval()

void ec_master_set_send_interval	(	ec_master_t *	master,
		unsigned int	send_interval
	)

Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue.

Parameters

master	EtherCAT master
send_interval	Send interval

Definition at line 944 of file master.c.

◆ ec_master_queue_datagram()

void ec_master_queue_datagram	(	ec_master_t *	master,
		ec_datagram_t *	datagram
	)

Places a datagram in the datagram queue.

Parameters

master	EtherCAT master
datagram	datagram

Definition at line 980 of file master.c.

◆ ec_master_queue_datagram_ext()

void ec_master_queue_datagram_ext	(	ec_master_t *	master,
		ec_datagram_t *	datagram
	)

Places a datagram in the non-application datagram queue.

Parameters

master	EtherCAT master
datagram	datagram

Definition at line 1015 of file master.c.

◆ ec_master_mbox_store()

static int ec_master_mbox_store	(	ec_mbox_data_t *	mbox_data,
		const uint8_t *	data,
		size_t	size
	)

static

Stores a received mailbox response in a protocol-specific buffer.

Return values

0	The response was stored.
-ENOENT	There is no buffer for the protocol.
-EOVERFLOW	The response does not fit into the buffer.

Parameters

mbox_data	Mailbox response buffer.
data	Received mailbox data.
size	Size of the received data.

Definition at line 1167 of file master.c.

◆ ec_master_mbox_dispatch()

static int ec_master_mbox_dispatch	(	ec_master_t *	master,
		const uint8_t *	data,
		size_t	size,
		uint16_t	slave_addr,
		uint16_t	offset_addr
	)

static

Common mailbox dispatcher for mailboxes read via the station address.

Returns: Non-zero, if the data were handled by the dispatcher, zero, if they shall be copied into the datagram memory.

Parameters

master	EtherCAT master.
data	Received datagram data.
size	Size of the received datagram data.
slave_addr	Station address of the datagram.
offset_addr	Register offset of the datagram.

Definition at line 1193 of file master.c.

◆ ec_master_receive_datagrams()

void ec_master_receive_datagrams	(	ec_master_t *	master,
		ec_device_t *	device,
		const uint8_t *	frame_data,
		size_t	size
	)

Processes a received frame.

This function is called by the network driver for every received frame.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
device	EtherCAT device
frame_data	frame data
size	size of the received data

Definition at line 1300 of file master.c.

◆ ec_master_output_stats()

void ec_master_output_stats ( ec_master_t * master )

Output master statistics.

This function outputs statistical data on demand, but not more often than necessary. The output happens at most once a second.

Parameters

master EtherCAT master

Definition at line 1449 of file master.c.

◆ ec_master_eoe_start()

void ec_master_eoe_start ( ec_master_t * master )

Starts Ethernet over EtherCAT processing on demand.

Parameters

master EtherCAT master

Definition at line 1856 of file master.c.

◆ ec_master_eoe_stop()

void ec_master_eoe_stop ( ec_master_t * master )

Stops the Ethernet over EtherCAT processing.

Parameters

master EtherCAT master

Definition at line 1890 of file master.c.

◆ ec_master_attach_slave_configs()

void ec_master_attach_slave_configs ( ec_master_t * master )

Attaches the slave configurations to the slaves.

Parameters

master EtherCAT master.

Definition at line 1970 of file master.c.

◆ ec_master_find_slave()

ec_slave_t* ec_master_find_slave	(	ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position
	)

Finds a slave in the bus, given the alias and position.

Returns: Search result, or NULL.

Parameters

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 2010 of file master.c.

◆ ec_master_find_slave_const()

const ec_slave_t* ec_master_find_slave_const	(	const ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position
	)

Finds a slave in the bus, given the alias and position.

Const version.

Returns: Search result, or NULL.

Parameters

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 2026 of file master.c.

◆ ec_master_find_config_for_slave()

ec_slave_config_t* ec_master_find_config_for_slave	(	ec_master_t *	master,
		const ec_slave_t *	slave
	)

Finds the slave configuration that will be attached to the given slave.

Unlike ec_slave_config_attach(), this does not actually attach the configuration; it just looks one up by alias/position (and, if given, matching vendor ID/product code), which also works before the bus scan has completed and configurations have been attached to their slaves.

Returns: The matching slave configuration, or NULL, if none matches.

Parameters

master	EtherCAT master.
slave	Slave to find a configuration for.

Definition at line 2045 of file master.c.

◆ ec_master_config_count()

unsigned int ec_master_config_count ( const ec_master_t * master )

Get the number of slave configurations provided by the application.

Returns: Number of configurations.

Parameters

master EtherCAT master.

Definition at line 2082 of file master.c.

◆ ec_master_get_config()

ec_slave_config_t* ec_master_get_config	(	const ec_master_t *	master,
		unsigned int	pos
	)

Get a slave configuration via its position in the list.

Returns: Slave configuration or NULL.

Parameters

master	EtherCAT master.
pos	List position.

Definition at line 2115 of file master.c.

◆ ec_master_get_config_const()

const ec_slave_config_t* ec_master_get_config_const	(	const ec_master_t *	master,
		unsigned int	pos
	)

Get a slave configuration via its position in the list.

Const version.

Returns: Slave configuration or NULL.

Parameters

master	EtherCAT master.
pos	List position.

Definition at line 2130 of file master.c.

◆ ec_master_domain_count()

unsigned int ec_master_domain_count ( const ec_master_t * master )

Get the number of domains.

Returns: Number of domains.

Parameters

master EtherCAT master.

Definition at line 2145 of file master.c.

◆ ec_master_find_domain()

ec_domain_t* ec_master_find_domain	(	ec_master_t *	master,
		unsigned int	index
	)

Get a domain via its position in the list.

Returns: Domain pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	Domain index.

Definition at line 2179 of file master.c.

◆ ec_master_find_domain_const()

const ec_domain_t* ec_master_find_domain_const	(	const ec_master_t *	master,
		unsigned int	index
	)

Get a domain via its position in the list.

Const version.

Returns: Domain pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	Domain index.

Definition at line 2194 of file master.c.

◆ ec_master_eoe_handler_count()

uint16_t ec_master_eoe_handler_count ( const ec_master_t * master )

Get the number of EoE handlers.

Returns: Number of EoE handlers.

Parameters

master EtherCAT master.

Definition at line 2211 of file master.c.

◆ ec_master_get_eoe_handler_const()

const ec_eoe_t* ec_master_get_eoe_handler_const	(	const ec_master_t *	master,
		uint16_t	index
	)

Get an EoE handler via its position in the list.

Const version.

Returns: EoE handler pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	EoE handler index.

Definition at line 2233 of file master.c.

◆ ec_master_debug_level()

int ec_master_debug_level	(	ec_master_t *	master,
		unsigned int	level
	)

Set the debug level.

Return values

0	Success.
-EINVAL	Invalid debug level.

Parameters

master	EtherCAT master.
level	Debug level. May be 0, 1 or 2.

Definition at line 2258 of file master.c.

◆ ec_master_calc_dc()

void ec_master_calc_dc ( ec_master_t * master )

Distributed-clocks calculations.

Parameters

master EtherCAT master.

Definition at line 2453 of file master.c.

◆ ec_master_request_op()

void ec_master_request_op ( ec_master_t * master )

Request OP state for configured slaves.

Parameters

master EtherCAT master.

Definition at line 2470 of file master.c.

◆ ec_master_find_cached_sii_page()

ec_sii_page_t* ec_master_find_cached_sii_page	(	const ec_master_t *	master,
		uint32_t	vendor_id,
		uint32_t	product_code,
		uint32_t	revision,
		uint32_t	serial,
		uint16_t	alias
	)

Find a matching cached SII page.

Returns pointer to the cached page, or zero if nothing usable found.

Parameters

master EtherCAT master.

Definition at line 2549 of file master.c.

◆ ec_master_cache_sii_page()

int ec_master_cache_sii_page	(	ec_master_t *	master,
		const ec_sii_page_t *	page
	)

Add an SII page to the cache.

If caching is disabled or the page already exists, it is not added.

Returns non-zero on error.

Parameters

master	EtherCAT master.
page	SII page.

Definition at line 2577 of file master.c.

◆ ecrt_master_create_domain_err()

ec_domain_t* ecrt_master_create_domain_err ( ec_master_t * master )

Same as ecrt_master_create_domain(), but with ERR_PTR() return value.

Returns: New domain, or ERR_PTR() return value.

Parameters

master master

Definition at line 2641 of file master.c.

Variable Documentation

◆ rate_intervals

const unsigned int rate_intervals[]

Initial value:

= {
    1, 10, 60
}

List of intervals for statistics [s].

Definition at line 111 of file master.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ EC_SDO_INJECTION_TIMEOUT

◆ EC_SII_CACHING_MASK

◆ EC_FIND_SLAVE

◆ EC_FIND_CONFIG

◆ EC_FIND_DOMAIN

Function Documentation

◆ ec_master_clear_config()

◆ ec_master_thread_start()

◆ ec_master_thread_stop()

◆ ec_master_inject_external_datagrams()

◆ ec_master_get_external_datagram()

◆ ec_master_exec_slave_fsms()

◆ ec_master_send_datagrams()

◆ ec_master_calc_topology_rec()

◆ ec_master_calc_topology()

◆ ec_master_calc_transmission_delays()

◆ ec_master_find_dc_ref_clock()

◆ ec_master_clear_device_stats()

◆ ec_master_update_device_stats()

◆ ec_master_cached_sii_page_matches()

◆ ec_master_init()

◆ ec_master_clear()

◆ ec_master_clear_eoe_handlers()

◆ ec_master_internal_send_cb()

◆ ec_master_internal_receive_cb()

◆ ec_master_enter_idle_phase()

◆ ec_master_leave_idle_phase()

◆ ec_master_enter_operation_phase()

◆ ec_master_leave_operation_phase()

◆ ec_master_set_send_interval()

◆ ec_master_queue_datagram()

◆ ec_master_queue_datagram_ext()

◆ ec_master_mbox_store()

◆ ec_master_mbox_dispatch()

◆ ec_master_receive_datagrams()

◆ ec_master_output_stats()

◆ ec_master_eoe_start()

◆ ec_master_eoe_stop()

◆ ec_master_attach_slave_configs()

◆ ec_master_find_slave()

◆ ec_master_find_slave_const()

◆ ec_master_find_config_for_slave()

◆ ec_master_config_count()

◆ ec_master_get_config()

◆ ec_master_get_config_const()

◆ ec_master_domain_count()

◆ ec_master_find_domain()

◆ ec_master_find_domain_const()

◆ ec_master_eoe_handler_count()

◆ ec_master_get_eoe_handler_const()

◆ ec_master_debug_level()

◆ ec_master_calc_dc()

◆ ec_master_request_op()

◆ ec_master_find_cached_sii_page()

◆ ec_master_cache_sii_page()

◆ ecrt_master_create_domain_err()

Variable Documentation

◆ rate_intervals