ec_slave Struct Reference

Data Fields
osal_uint32_t	slave
	Slave index in EtherCAT master array.
osal_int16_t	auto_inc_address
	physical bus address
osal_uint16_t	fixed_address
	virtual bus address, programmed on start
osal_uint16_t	type
	value of EC_REG_TYPE
osal_uint8_t	sm_ch
	number of sync manager channels
osal_uint8_t	fmmu_ch
	number of fmmu channels
osal_uint32_t	ram_size
	ram size in bytes
osal_uint16_t	features
	fmmu operation, dc available
osal_uint16_t	pdi_ctrl
	configuration of process data interface
osal_uint8_t	link_cnt
	link count
osal_uint8_t	active_ports
	active ports with link
osal_uint16_t	ptype
	ptype
osal_int32_t	pdelay
	propagation delay of the slave
int	entry_port
	entry port from parent slave
int	parent
	parent slave number
int	port_on_parent
	port attached on parent slave
int	sm_set_by_user
	sm set by user
ec_slave_sm_t	sm [LEC_MAX_SLAVE_SM]
	array of sm settings
ec_slave_fmmu_t	fmmu [LEC_MAX_SLAVE_FMMU]
	array of fmmu settings
int	assigned_pd_group
	Process data group this slave is assigned to.
ec_pd_t	pdin
	input process data
ec_pd_t	pdout
	output process data
osal_size_t	subdev_cnt
	count of sub devices
ec_slave_subdev_t	subdevs [LEC_MAX_DS402_SUBDEVS]
	array of sub devices
ec_mbx_t	mbx
	EtherCAT mailbox structure.
eeprom_info_t	eeprom
	EtherCAT slave EEPROM data.
ec_dc_info_slave_t	dc
	Distributed Clock settings.
ec_state_t	expected_state
	Master expected slave state.
ec_state_t	act_state
	Actual/Last read slave state.
osal_mutex_t	transition_mutex
	Lock for state transition pending.
osal_bool_t	transition_active
	Flag is state transition is currently active.
struct ec_init_cmds	init_cmds
	EtherCAT slave init commands.
worker_arg_t	worker_arg
	Set state worker thread arguments.
osal_task_t	worker_tid
	Set state worker thread handle.

Field Documentation

fmmu

ec_slave_fmmu_t ec_slave::fmmu[LEC_MAX_SLAVE_FMMU]

array of fmmu settings

These are the settings for the fielbus management units of the EtherCAT slaves. The size of the array is fmmu_ch.

init_cmds

struct ec_init_cmds ec_slave::init_cmds

EtherCAT slave init commands.

This is a list of EtherCAT slave init commands. They should be addes to the list by ec_slave_add_init_cmd. An init command is usefull to make slave specific settings while setting the state machine from INIT to OP.

pdin

ec_pd_t ec_slave::pdin

input process data

This is the complete input process data of the EtherCAT slave. Parts of it may also be accessed if we have multiple sub devices defined by the slave (subdevs)

pdout

ec_pd_t ec_slave::pdout

output process data

This is the complete output process data of the EtherCAT slave. Parts of it may also be accessed if we have multiple sub devices defined by the slave (subdevs)

sm

ec_slave_sm_t ec_slave::sm[LEC_MAX_SLAVE_SM]

array of sm settings

These are the settings for the sync managers of the EtherCAT slaves. The size of the array is sm_ch.

sm_set_by_user

int ec_slave::sm_set_by_user

sm set by user

This defines if the sync manager settings are set by the user and should not be figured out by the EtherCAT master state machine. If not set, the master will try to generate the sm settings either via a available mailbox protocol or the EEPROM.

subdev_cnt

osal_size_t ec_slave::subdev_cnt

count of sub devices

An EtherCAT slave may have multiple sub devices defines. These may be e.g. multiple Sercos drives per slave, multiple CiA-DSP402 axes per slave, ...

subdevs

ec_slave_subdev_t ec_slave::subdevs[LEC_MAX_DS402_SUBDEVS]

array of sub devices

An EtherCAT slave may have multiple sub devices defines. These may be e.g. multiple Sercos drives per slave, multiple CiA-DSP402 axes per slave, ...

worker_arg

worker_arg_t ec_slave::worker_arg

Set state worker thread arguments.

These arguments are used for worker thread when threaded startup is used.

worker_tid

osal_task_t ec_slave::worker_tid

Set state worker thread handle.

Handle to spawned worker thread if threaded startup is used.

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

• include/libethercat/slave.h