slave.h File Reference

EtherCAT slave functions. More...

#include <libosal/types.h>
#include <assert.h>
#include "libethercat/common.h"
#include "libethercat/eeprom.h"
#include "libethercat/dc.h"
#include "libethercat/mbx.h"

Go to the source code of this file.

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

EtherCAT slave functions.

Author

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

Date

21 Nov 2016

These are EtherCAT slave specific configuration functions.