41#ifndef LIBETHERCAT_SLAVE_H
42#define LIBETHERCAT_SLAVE_H
44#include <libosal/types.h>
47#include "libethercat/config.h"
65#define BOOT_2_BOOT 0x0303u
66#define BOOT_2_INIT 0x0301u
67#define BOOT_2_PREOP 0x0302u
68#define BOOT_2_SAFEOP 0x0304u
69#define BOOT_2_OP 0x0308u
70#define UNKNOWN_2_BOOT 0x0003u
71#define UNKNOWN_2_INIT 0x0001u
72#define UNKNOWN_2_PREOP 0x0002u
73#define UNKNOWN_2_SAFEOP 0x0004u
74#define UNKNOWN_2_OP 0x0008u
75#define INIT_2_BOOT 0x0103u
76#define INIT_2_INIT 0x0101u
77#define INIT_2_PREOP 0x0102u
78#define INIT_2_SAFEOP 0x0104u
79#define INIT_2_OP 0x0108u
80#define PREOP_2_BOOT 0x0203u
81#define PREOP_2_INIT 0x0201u
82#define PREOP_2_PREOP 0x0202u
83#define PREOP_2_SAFEOP 0x0204u
84#define PREOP_2_OP 0x0208u
85#define SAFEOP_2_BOOT 0x0403u
86#define SAFEOP_2_INIT 0x0401u
87#define SAFEOP_2_PREOP 0x0402u
88#define SAFEOP_2_SAFEOP 0x0404u
89#define SAFEOP_2_OP 0x0408u
90#define OP_2_BOOT 0x0803u
91#define OP_2_INIT 0x0801u
92#define OP_2_PREOP 0x0802u
93#define OP_2_SAFEOP 0x0804u
94#define OP_2_OP 0x0808u
96typedef osal_uint16_t ec_state_transition_t;
168 osal_uint8_t reserverd[3];
224#define INIT_CMD_SIZE (sizeof(ec_init_cmd_t))
321#if LIBETHERCAT_MBX_SUPPORT_EOE == 1
355#define ec_slave_ptr(ptr, pec, slave) \
356 ec_slave_t *(ptr) = (ec_slave_t *)&pec->slaves[slave]; \
357 assert((ptr) != NULL);
430 ec_state_t *state, osal_uint16_t *alstatcode);
500 int transition,
int id,
int si_el,
int ca_atn,
501 osal_char_t *data, osal_size_t datalen);
503#if LIBETHERCAT_MBX_SUPPORT_SOE == 1
520 int transition,
int id,
int si_el,
int ca_atn,
521 osal_char_t *data, osal_size_t datalen);
555 int use_dc,
int type, osal_uint32_t cycle_time_0,
556 osal_uint32_t cycle_time_1, osal_int32_t cycle_shift);
558#if LIBETHERCAT_MBX_SUPPORT_EOE == 1
573void ec_slave_set_eoe_settings(
struct ec *pec, osal_uint16_t slave,
574 osal_uint8_t *mac, osal_uint8_t *ip_address, osal_uint8_t *subnet, osal_uint8_t *gateway,
575 osal_uint8_t *dns, osal_char_t *dns_name);
578const osal_char_t *al_status_code_2_string(
int code);
ethercat master common stuff
#define LEC_MAX_SLAVE_FMMU
Maximum number of slave FMMUs.
Definition common.h:97
#define LEC_MAX_SLAVE_SM
Maximum number of slave sync managers.
Definition common.h:105
#define LEC_MAX_INIT_CMD_DATA
Maximum size of init command data.
Definition common.h:89
#define LEC_MAX_DS402_SUBDEVS
Maximum DS420 sub devices.
Definition common.h:185
ethercat distributed clocks support.
EtherCAT eeprom access fuctions.
void ec_slave_init(struct ec *pec, osal_uint16_t slave)
void ec_slave_reset(ec_t *pec, osal_uint16_t slave)
issue hardware reset of slave
struct ec_slave_subdev ec_slave_subdev_t
EtherCAT sub device.
struct worker_arg worker_arg_t
Worker thread argument structure.
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.
void ec_slave_add_init_cmd(ec_t *pec, osal_uint16_t slave, ec_init_cmd_t *cmd)
Add master init command.
struct ec_init_cmd ec_init_cmd_t
slave mailbox init commands
struct PACKED ec_slave_sm ec_slave_sm_t
slave sync manager settings
struct PACKED ec_slave_fmmu ec_slave_fmmu_t
slave fielbus memory management unit (fmmu) settings
void ec_slave_free(struct ec *pec, osal_uint16_t slave)
int ec_slave_generate_mapping(struct ec *pec, osal_uint16_t slave)
Generate process data mapping.
int ec_slave_state_transition(struct ec *pec, osal_uint16_t slave, ec_state_t state)
Execute state transition on EtherCAT 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_prepare_state_transition(struct ec *pec, osal_uint16_t slave, ec_state_t state)
Prepare 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.
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.
ethercat mailbox common access functions
slave mailbox init commands
Definition slave.h:178
osal_char_t data[LEC_MAX_INIT_CMD_DATA]
new id data
Definition slave.h:220
int transition
ECat transition.
Definition slave.h:187
int ca_atn
flags
Definition slave.h:213
osal_size_t datalen
new id data length
Definition slave.h:221
int type
Mailbox type.
Definition slave.h:179
LIST_ENTRY(ec_init_cmd) le
List entry handle.
int id
index
Definition slave.h:198
int si_el
sub index
Definition slave.h:206
process data structure
Definition common.h:213
slave fielbus memory management unit (fmmu) settings
Definition slave.h:120
osal_uint8_t active
activation flag
Definition slave.h:164
osal_uint8_t phys_bit_start
physical start bit at physical address
Definition slave.h:154
osal_uint8_t log_bit_start
start bit at logical bus address
Definition slave.h:137
osal_uint16_t phys
physical (local) address in slave
Definition slave.h:147
osal_uint32_t log
logical bus address
Definition slave.h:121
osal_uint16_t log_len
length of logical address area
Definition slave.h:130
osal_uint8_t log_bit_stop
stop bit at logical address plus length
Definition slave.h:142
osal_uint8_t type
type, read or write
Definition slave.h:160
slave sync manager settings
Definition slave.h:99
osal_uint16_t adr
sync manager address
Definition slave.h:100
osal_uint16_t len
sync manager length
Definition slave.h:106
osal_uint32_t flags
sync manager flags
Definition slave.h:112
EtherCAT sub device.
Definition slave.h:172
ec_pd_t pdout
process data outputs
Definition slave.h:174
ec_pd_t pdin
process data inputs
Definition slave.h:173
ec_dc_info_slave_t dc
Distributed Clock settings.
Definition slave.h:319
int port_on_parent
port attached on parent slave
Definition slave.h:253
osal_uint16_t pdi_ctrl
configuration of process data interface
Definition slave.h:245
osal_int16_t auto_inc_address
physical bus address
Definition slave.h:237
struct ec_init_cmds init_cmds
EtherCAT slave init commands.
Definition slave.h:331
ec_slave_fmmu_t fmmu[LEC_MAX_SLAVE_FMMU]
array of fmmu settings
Definition slave.h:273
ec_mbx_t mbx
EtherCAT mailbox structure.
Definition slave.h:316
int assigned_pd_group
Process data group this slave is assigned to.
Definition slave.h:281
osal_uint32_t ram_size
ram size in bytes
Definition slave.h:243
osal_int32_t pdelay
propagation delay of the slave
Definition slave.h:249
osal_task_t worker_tid
Set state worker thread handle.
Definition slave.h:347
ec_pd_t pdin
input process data
Definition slave.h:282
ec_state_t expected_state
Master expected slave state.
Definition slave.h:325
osal_bool_t transition_active
Flag is state transition is currently active.
Definition slave.h:329
ec_slave_sm_t sm[LEC_MAX_SLAVE_SM]
array of sm settings
Definition slave.h:265
ec_slave_subdev_t subdevs[LEC_MAX_DS402_SUBDEVS]
array of sub devices
Definition slave.h:308
osal_uint8_t link_cnt
link count
Definition slave.h:246
int entry_port
entry port from parent slave
Definition slave.h:251
osal_uint16_t ptype
ptype
Definition slave.h:248
osal_uint8_t sm_ch
number of sync manager channels
Definition slave.h:241
osal_uint16_t features
fmmu operation, dc available
Definition slave.h:244
ec_state_t act_state
Actual/Last read slave state.
Definition slave.h:326
osal_uint8_t active_ports
active ports with link
Definition slave.h:247
osal_uint8_t fmmu_ch
number of fmmu channels
Definition slave.h:242
osal_uint32_t slave
Slave index in EtherCAT master array.
Definition slave.h:235
osal_size_t subdev_cnt
count of sub devices
Definition slave.h:300
osal_mutex_t transition_mutex
Lock for state transition pending.
Definition slave.h:328
osal_uint16_t type
value of EC_REG_TYPE
Definition slave.h:240
int parent
parent slave number
Definition slave.h:252
ec_pd_t pdout
output process data
Definition slave.h:291
worker_arg_t worker_arg
Set state worker thread arguments.
Definition slave.h:342
eeprom_info_t eeprom
EtherCAT slave EEPROM data.
Definition slave.h:318
osal_uint16_t fixed_address
virtual bus address, programmed on start
Definition slave.h:238
int sm_set_by_user
sm set by user
Definition slave.h:255
ethercat master structure
Definition ec.h:188
ec_state_t state
State of EtherCAT slave.
Definition slave.h:231
int slave
Slave number this worker is doing things for.
Definition slave.h:230
struct ec * pec
Pointer to EtherCAT master struct.
Definition slave.h:229