ec.h File Reference

ethercat master functions. More...

#include <libosal/types.h>
#include "libethercat/common.h"
#include "libethercat/dc.h"
#include "libethercat/slave.h"
#include "libethercat/hw.h"
#include "libethercat/regs.h"
#include "libethercat/idx.h"
#include "libethercat/datagram.h"
#include "libethercat/pool.h"
#include "libethercat/async_loop.h"
#include "libethercat/eeprom.h"

Go to the source code of this file.

Data Structures
struct	ec_pd_group
	process data group structure More...
struct	ec
	ethercat master structure More...

Macros
#define	EC_SHORT_TIMEOUT_MBX   (10000000)
	Short timeout value in [ns].
#define	EC_DEFAULT_TIMEOUT_MBX   (1000000000)
	Default timeout value in [ns].
#define	EC_DEFAULT_DELAY   (2000000)
	Default delay in [ns].
#define	ec_log(lvl, pre, format, ...)    _ec_log(pec, (lvl), (pre), (format), ##__VA_ARGS__)
#define	ec_group_will_be_sent(pec, group)   (int)((((pec)->pd_groups[(group)].divisor_cnt+1) % (pec)->pd_groups[(group)].divisor) == 0)
	Group datagram will be send on next time step.
#define	ec_group_was_sent(pec, group)   (int)((pec)->pd_groups[(group)].divisor_cnt == 0)
	Group datagram was sent.
#define	ec_to_adr(ado, adp)    ((osal_uint32_t)(adp) << 16u) | ((ado) & 0xFFFFu)
	Macro for EtherCAT address generation.
#define	ec_brd(pec, ado, data, datalen, wkc)
	Perform a broadcast read (BRD).
#define	ec_bwr(pec, ado, data, datalen, wkc)
	Perform a broadcast write (BWR).
#define	ec_brw(pec, ado, data, datalen, wkc)
	Perform a broadcast read/write (BRW).
#define	ec_aprd(pec, adp, ado, data, datalen, wkc)
	Perform a positional physical read (APRD)
#define	ec_apwr(pec, adp, ado, data, datalen, wkc)
	Perform a positional physical write (APWR)
#define	ec_aprw(pec, adp, ado, data, datalen, wkc)
	Perform a positional physical read/write (APRW)
#define	ec_fprd(pec, adp, ado, data, datalen, wkc)
	Perform a configured-address physical read (FPRD)
#define	ec_fpwr(pec, adp, ado, data, datalen, wkc)
	Perform a configured-address physical write (FPWR)
#define	ec_fprw(pec, adp, ado, data, datalen, wkc)
	Perform a configured-address physical read/write (FPRW)
#define	ec_frmw(pec, adp, ado, data, datalen, wkc)
	Perform a configured-address physical read/multiple-write (FPMW)
#define	check_ret(fcn, ...)
	Macro that checks return value and prints message in error case.
#define	check_ec_bwr(...)   check_ret(ec_bwr, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_brd(...)   check_ret(ec_brd, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_brw(...)   check_ret(ec_brw, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_apwr(...)   check_ret(ec_apwr, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_aprd(...)   check_ret(ec_aprd, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_aprw(...)   check_ret(ec_aprw, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_fpwr(...)   check_ret(ec_fpwr, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_fprd(...)   check_ret(ec_fprd, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_fprw(...)   check_ret(ec_fprw, __VA_ARGS__)
	Macro that checks return value and prints message in error case.
#define	check_ec_frmw(...)   check_ret(ec_frmw, __VA_ARGS__)
	Macro that checks return value and prints message in error case.

Typedefs
typedef struct ec_slave	ec_slave_t
typedef struct ec_pd_group	ec_pd_group_t
	process data group structure
typedef struct ec	ec_t
	ethercat master structure

Functions
void	_ec_log (ec_t *pec, int lvl, const osal_char_t *pre, const osal_char_t *format,...)
	EtherCAT logging function.
int	ec_open (ec_t *pec, struct hw_common *phw, int eeprom_log)
	Open ethercat master.
int	ec_close (ec_t *pec)
	Closes ethercat master.
int	ec_configure_tun (ec_t *pec, osal_uint8_t ip_address[4])
	Configures tun device of EtherCAT master, used for EoE slaves.
void	ec_configure_dc (ec_t *pec, osal_uint64_t timer, ec_dc_mode_t mode, void(*user_cb)(void *arg, int num), void *user_cb_arg)
	Configures distributed clocks settings on EtherCAT master.
int	ec_create_pd_groups (ec_t *pec, osal_uint32_t pd_group_cnt)
	Create process data groups.
void	ec_configure_pd_group (ec_t *pec, osal_uint16_t group, int clock_divisor, void(*user_cb)(void *arg, int num), void *user_cb_arg)
	Configure process data group settings.
int	ec_destroy_pd_groups (ec_t *pec)
	Destroy process data groups.
int	ec_transceive (ec_t *pec, osal_uint8_t cmd, osal_uint32_t adr, osal_uint8_t *data, osal_size_t datalen, osal_uint16_t *wkc)
	Syncronous ethercat read/write.
int	ec_transmit_no_reply (ec_t *pec, osal_uint8_t cmd, osal_uint32_t adr, osal_uint8_t *data, osal_size_t datalen)
	Asyncronous ethercat read/write, answer don't care.
int	ec_set_state (ec_t *pec, ec_state_t state)
	Set state on ethercat bus.
int	ec_send_process_data (ec_t *pec)
	send process data with logical commands
int	ec_send_distributed_clocks_sync (ec_t *pec)
	Send distributed clocks sync datagram.
int	ec_send_distributed_clocks_sync_with_rtc (ec_t *pec, osal_uint64_t act_rtc_time)
	Send distributed clock sync datagram.
int	ec_send_brd_ec_state (ec_t *pec)
	Send broadcast read to ec state.
int	ec_get_slave_count (ec_t *pec)
	Return current slave count.

Detailed Description

ethercat master functions.

Author

Robert Burger rober.nosp@m.t.bu.nosp@m.rger@.nosp@m.dlr..nosp@m.de

Date

22 Nov 2016

These are EtherCAT master specific configuration functions.