ec Struct Reference

ethercat master structure More...

#include <ec.h>

Data Fields
struct hw_common *	phw
	pointer to hardware interface
pool_entry_t	dg_entries [LEC_MAX_DATAGRAMS]
	static datagrams for datagram pool.
pool_t	pool
	datagram pool
idx_queue_t	idx_q
	index queue
osal_int64_t	main_cycle_interval
	Expected timer increment of one EtherCAT cycle in [ns].
pool_entry_t	mbx_mp_recv_free_entries [LEC_MAX_MBX_ENTRIES]
	static buffers for mailbox receive pool.
pool_entry_t	mbx_mp_send_free_entries [LEC_MAX_MBX_ENTRIES]
	static buffers for mailbox send pool.
pool_t	mbx_message_pool_recv_free
	Pool with free receive mailbox buffers.
pool_t	mbx_message_pool_send_free
	Pool with free send mailbox buffers.
osal_uint16_t	slave_cnt
	count of found EtherCAT slaves
ec_slave_t	slaves [LEC_MAX_SLAVES]
	array with EtherCAT slaves
osal_uint16_t	pd_group_cnt
	count of process data groups
ec_pd_group_t	pd_groups [LEC_MAX_GROUPS]
	array with process data groups
ec_dc_info_t	dc
	distributed clocks master settings
ec_async_loop_t	async_loop
	asynchronous message loop
int	tun_fd
	tun device file descriptor
osal_uint32_t	tun_ip
	tun device ip addres
osal_task_t	tun_tid
	tun device handler thread id.
int	tun_running
	tun device handler run flag.
int	eeprom_log
	flag whether to log eeprom to stdout
ec_state_t	master_state
	expected EtherCAT master state
int	state_transition_pending
	state transition is currently pending
int	threaded_startup
	running state machine in threads for slave
int	consecutive_max_miss
	max missed counter for receive frames before falling back to init
ec_cyclic_datagram_t	cdg_state
	Monitor EtherCAT AL Status from slaves.
void *	ec_log_func_user
void(*	ec_log_func )(ec_t *pec, int lvl, const osal_char_t *format,...)

Detailed Description

ethercat master structure

Field Documentation

async_loop

ec_async_loop_t ec::async_loop

asynchronous message loop

This loop receives asynchronous messages from the EtherCAT slave mailboxes. This may be e.g. emergency messages...

main_cycle_interval

osal_int64_t ec::main_cycle_interval

Expected timer increment of one EtherCAT cycle in [ns].

The index queue holds all available EtherCAT datagram indices. For every datagram one index will be taken out of the queue and returned to the queue if the frame with the datagram is received again by the master.

pool

pool_t ec::pool

datagram pool

All EtherCAT datagrams will be pre- allocated and available in the datagram pool. Theres no need to allocate datagrams at runtime.

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The documentation for this struct was generated from the following file:

• include/libethercat/ec.h