Slave

Data Structures
struct	ec_slave_sm
	slave sync manager settings More...
struct	ec_slave_fmmu
	slave fielbus memory management unit (fmmu) settings More...
struct	ec_slave_subdev
	EtherCAT sub device. More...
struct	ec_init_cmd
	slave mailbox init commands More...
struct	worker_arg
struct	ec_slave

Macros
#define	BOOT_2_BOOT   0x0303u
	EtherCAT slave state transitions.
#define	BOOT_2_INIT   0x0301u
	BOOT to INIT state transition.
#define	BOOT_2_PREOP   0x0302u
	BOOT to PREOP state transition,.
#define	BOOT_2_SAFEOP   0x0304u
	BOOT to SAFEOP state transition,.
#define	BOOT_2_OP   0x0308u
	BOOT to OP state transition,.
#define	UNKNOWN_2_BOOT   0x0003u
	UNKNOWN to BOOT state transition.
#define	UNKNOWN_2_INIT   0x0001u
	UNKNOWN to INIT state transition,.
#define	UNKNOWN_2_PREOP   0x0002u
	UNKNOWN to PREOP state transition,.
#define	UNKNOWN_2_SAFEOP   0x0004u
	UNKNOWN to SAFEOP state transition,.
#define	UNKNOWN_2_OP   0x0008u
	UNKNOWN to OP state transition,.
#define	INIT_2_BOOT   0x0103u
	INIT to BOOT state transition.
#define	INIT_2_INIT   0x0101u
	INIT to INIT state transition,.
#define	INIT_2_PREOP   0x0102u
	INIT to PREOP state transition,.
#define	INIT_2_SAFEOP   0x0104u
	INIT to SAFEOP state transition,.
#define	INIT_2_OP   0x0108u
	INIT to OP state transition,.
#define	PREOP_2_BOOT   0x0203u
	PREOP to BOOT state transition,.
#define	PREOP_2_INIT   0x0201u
	PREOP to INIT state transition,.
#define	PREOP_2_PREOP   0x0202u
	PREOP to PREOP state transition,.
#define	PREOP_2_SAFEOP   0x0204u
	PREOP to SAFEOP state transition,.
#define	PREOP_2_OP   0x0208u
	PREOP to OP state transition,.
#define	SAFEOP_2_BOOT   0x0403u
	SAFEOP to BOOT state transition,.
#define	SAFEOP_2_INIT   0x0401u
	SAFEOP to INIT state transition,.
#define	SAFEOP_2_PREOP   0x0402u
	SAFEOP to PREOP state transition,.
#define	SAFEOP_2_SAFEOP   0x0404u
	SAFEOP to SAFEOP state transition,.
#define	SAFEOP_2_OP   0x0408u
	SAFEOP to OP state transition,.
#define	OP_2_BOOT   0x0803u
	OP to BOOT state transition,.
#define	OP_2_INIT   0x0801u
	OP to INIT state transition,.
#define	OP_2_PREOP   0x0802u
	OP to PREOP state transition,.
#define	OP_2_SAFEOP   0x0804u
	OP to SAFEOP state transition,.
#define	OP_2_OP   0x0808u
	OP to OP state transition,.
#define	INIT_CMD_SIZE   (sizeof(ec_init_cmd_t))
#define	ec_slave_ptr(ptr, pec, slave)

Typedefs
typedef osal_uint16_t	ec_state_transition_t
typedef struct PACKED ec_slave_sm	ec_slave_sm_t
	slave sync manager settings
typedef struct PACKED ec_slave_fmmu	ec_slave_fmmu_t
	slave fielbus memory management unit (fmmu) settings
typedef struct ec_slave_subdev	ec_slave_subdev_t
	EtherCAT sub device.
typedef struct ec_init_cmd	ec_init_cmd_t
	slave mailbox init commands
typedef struct worker_arg	worker_arg_t
	Worker thread argument structure.
typedef struct ec_slave	ec_slave_t

Functions
	LIST_HEAD (ec_init_cmds, ec_init_cmd)
void	ec_slave_init (struct ec *pec, osal_uint16_t slave)
void	ec_slave_free (struct ec *pec, osal_uint16_t slave)
void	ec_slave_reset (ec_t *pec, osal_uint16_t slave)
	issue hardware reset of slave
int	ec_slave_set_state (struct ec *pec, osal_uint16_t slave, ec_state_t state)
	Set EtherCAT state on slave.
int	ec_slave_get_state (struct ec *pec, osal_uint16_t slave, ec_state_t *state, osal_uint16_t *alstatcode)
	Get EtherCAT state from slave.
int	ec_slave_generate_mapping (struct ec *pec, osal_uint16_t slave)
	Generate process data mapping.
int	ec_slave_prepare_state_transition (struct ec *pec, osal_uint16_t slave, ec_state_t state)
	Prepare state transition on EtherCAT slave.
int	ec_slave_state_transition (struct ec *pec, osal_uint16_t slave, ec_state_t state)
	Execute state transition on EtherCAT slave.
void	ec_slave_mailbox_coe_init_cmd_init (ec_init_cmd_t *cmd, int transition, int id, int si_el, int ca_atn, osal_char_t *data, osal_size_t datalen)
	Initialize CoE init command.
void	ec_slave_add_init_cmd (ec_t *pec, osal_uint16_t slave, ec_init_cmd_t *cmd)
	Add master init command.
void	ec_slave_set_dc_config (struct ec *pec, osal_uint16_t slave, int use_dc, int type, osal_uint32_t cycle_time_0, osal_uint32_t cycle_time_1, osal_int32_t cycle_shift)
	Set Distributed Clocks config to slave.
const osal_char_t *	al_status_code_2_string (int code)

Detailed Description

This modules contains main EtherCAT slave functions.

Macro Definition Documentation

BOOT_2_BOOT

#define BOOT_2_BOOT   0x0303u

EtherCAT slave state transitions.

BOOT to BOOT state transition

ec_slave_ptr

#define ec_slave_ptr	(		ptr,
			pec,
			slave
	)

Value:

    ec_slave_t *(ptr) = (ec_slave_t *)&pec->slaves[slave]; \
    assert((ptr) != NULL);

Function Documentation

ec_slave_add_init_cmd()

void ec_slave_add_init_cmd	(	ec_t *	pec,
		osal_uint16_t	slave,
		ec_init_cmd_t *	cmd
	)

Add master init command.

This adds an EtherCAT slave init command.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	cmd	Init command to add.

ec_slave_free()

void ec_slave_free	(	struct ec *	pec,
		osal_uint16_t	slave
	)

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_slave_generate_mapping()

int ec_slave_generate_mapping	(	struct ec *	pec,
		osal_uint16_t	slave
	)

Generate process data mapping.

This tries to generate a mapping for the process data and figures out the settings for the sync managers. Therefor it either tries to use an available mailbox protocol or the information stored in the EEPROM.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

Returns

EC_OK on success, otherwise EC_ERROR_* code.

ec_slave_get_state()

int ec_slave_get_state	(	struct ec *	pec,
		osal_uint16_t	slave,
		ec_state_t *	state,
		osal_uint16_t *	alstatcode
	)

Get EtherCAT state from slave.

This call tries to read the EtherCAT slave state. If successfull a working counter of 1 will be returned.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[out]	state	Returns current EtherCAT state.
[out]	alstatcode	Return current AL StatusCode of specified EtherCAT slave. (maybe NULL if you are not interested in)

Returns

EC_OK on success, otherwise EC_ERROR_* code.

ec_slave_init()

void ec_slave_init	(	struct ec *	pec,
		osal_uint16_t	slave
	)

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_slave_mailbox_coe_init_cmd_init()

void ec_slave_mailbox_coe_init_cmd_init	(	ec_init_cmd_t *	cmd,
		int	transition,
		int	id,
		int	si_el,
		int	ca_atn,
		osal_char_t *	data,
		osal_size_t	datalen
	)

Initialize CoE init command.

This adds an EtherCAT slave init command.

Parameters

[in]	cmd	Init command to add.
[in]	transition	EtherCAT state transition in form 0xab, where 'a' is the state we are coming from and 'b' is the state we want to get.
[in]	id	Either CoE Index number or the ServoDrive IDN.
[in]	si_el	Either CoE SubIndex or ServoDrive element number.
[in]	ca_atn	Either CoE complete access or ServoDrive ATN.
[in]	data	Pointer to memory buffer with data which should be transfered.
[in]	datalen	Length of data

ec_slave_prepare_state_transition()

int ec_slave_prepare_state_transition	(	struct ec *	pec,
		osal_uint16_t	slave,
		ec_state_t	state
	)

Prepare state transition on EtherCAT slave.

While prepare a state transition the master sends the init commands to the slaves. These are usually settings for the process data mapping (e.g. PDOs, ...) or some slave specific settings.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	state	Prepare the EtherCAT slave for a switch to the specified EtherCAT state.

Returns

Working counter of the used commands, should be 1 if it was successfull.

ec_slave_reset()

void ec_slave_reset	(	ec_t *	pec,
		osal_uint16_t	slave
	)

issue hardware reset of slave

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_slave_set_dc_config()

void ec_slave_set_dc_config	(	struct ec *	pec,
		osal_uint16_t	slave,
		int	use_dc,
		int	type,
		osal_uint32_t	cycle_time_0,
		osal_uint32_t	cycle_time_1,
		osal_int32_t	cycle_shift
	)

Set Distributed Clocks config to slave.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	use_dc	Whether to en-/disable dc on slave.
[in]	activation_reg	DC Sync Activation Register (0x981). Sets the type of DC sync: 0x3 = Sync0 0x5 = Sync1 0x7 = Sync01
[in]	cycle_time_0	Cycle time of sync 0 [ns].
[in]	cycle_time_1	Cycle time of sync 1 [ns].
[in]	cycle_shift	Cycle shift time [ns].

ec_slave_set_state()

int ec_slave_set_state	(	struct ec *	pec,
		osal_uint16_t	slave,
		ec_state_t	state
	)

Set EtherCAT state on slave.

This call tries to set the EtherCAT slave to the requested state. If successfull a working counter of 1 will be returned.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	state	New EtherCAT state which will be set on specified slave.

Returns

EC_OK on success, otherwise EC_ERROR_* code.

ec_slave_state_transition()

int ec_slave_state_transition	(	struct ec *	pec,
		osal_uint16_t	slave,
		ec_state_t	state
	)

Execute state transition on EtherCAT slave.

This actually performs the state transition.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	state	Switch the EtherCAT slave to the specified EtherCAT state.

Returns

Working counter of the used commands, should be 1 if it was successfull.