slave.c File Reference

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Detailed Description

EtherCAT slave methods.

Definition in file slave.c.

Go to the source code of this file.

Functions
int	ec_slave_fetch_categories (ec_slave_t *slave)
	Fetches data from slave's EEPROM.
ssize_t	ec_show_slave_attribute (struct kobject *kobj,struct attribute *attr,char *buffer)
	Formats attribute data for SysFS read access.
ssize_t	ec_store_slave_attribute (struct kobject *kobj,struct attribute *attr,const char *buffer,size_t size)
	Formats attribute data for SysFS write access.
int	ec_slave_init (ec_slave_t *slave, ec_master_t *master, uint16_t ring_position, uint16_t station_address)
	Slave constructor.
void	ec_slave_clear (struct kobject *kobj)
	Slave destructor.
int	ec_slave_fetch (ec_slave_t *slave)
	Reads all necessary information from a slave.
int	ec_slave_sii_read16 (ec_slave_t *slave, uint16_t offset, uint16_t *target)
	Reads 16 bit from the slave information interface (SII).
int	ec_slave_sii_read32 (ec_slave_t *slave, uint16_t offset, uint32_t *target)
	Reads 32 bit from the slave information interface (SII).
int	ec_slave_sii_write16 (ec_slave_t *slave, uint16_t offset, uint16_t value)
	Writes 16 bit of data to the slave information interface (SII).
int	ec_slave_fetch_strings (ec_slave_t *slave, const uint8_t *data)
	Fetches data from a STRING category.
int	ec_slave_fetch_general (ec_slave_t *slave, const uint8_t *data)
	Fetches data from a GENERAL category.
int	ec_slave_fetch_sync (ec_slave_t *slave, const uint8_t *data, size_t word_count)
	Fetches data from a SYNC MANAGER category.
int	ec_slave_fetch_pdo (ec_slave_t *slave, const uint8_t *data, size_t word_count, ec_pdo_type_t pdo_type)
	Fetches data from a [RT]XPDO category.
int	ec_slave_locate_string (ec_slave_t *slave, unsigned int index, char **ptr)
	Searches the string list for an index and allocates a new string.
void	ec_slave_state_ack (ec_slave_t *slave, uint8_t state)
	Acknowledges an error after a state transition.
void	ec_slave_read_al_status_code (ec_slave_t *slave)
	Reads the AL status code of a slave and displays it.
int	ec_slave_state_change (ec_slave_t *slave, uint8_t state)
	Does a state transition.
int	ec_slave_prepare_fmmu (ec_slave_t *slave, const ec_domain_t *domain, const ec_sync_t *sync)
	Prepares an FMMU configuration.
void	ec_slave_print (const ec_slave_t *slave, unsigned int verbosity)
	Outputs all information about a certain slave.
int	ec_slave_check_crc (ec_slave_t *slave)
	Outputs the values of the CRC faoult counters and resets them.
ssize_t	ec_slave_write_eeprom (ec_slave_t *slave, const uint8_t *data, size_t size)
	Schedules an EEPROM write operation.
size_t	ec_slave_calc_sync_size (const ec_slave_t *slave, const ec_sync_t *sync)
uint16_t	ec_slave_calc_eeprom_sync_size (const ec_slave_t *slave, const ec_eeprom_sync_t *sync)
	Calculates the size of a sync manager by evaluating PDO sizes.
int	ecrt_slave_write_alias (ec_slave_t *slave, uint16_t alias)
	Writes the "configured station alias" to the slave's EEPROM.
int	ecrt_slave_field_size (ec_slave_t *slave, const char *field_name, unsigned int field_index, size_t size)
Variables
const ec_code_msg_t	al_status_messages []
	Application layer status messages.

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Function Documentation

int ec_slave_fetch_categories (  ec_slave_t *  slave  )

Fetches data from slave's EEPROM. Returns: 0 in case of success, else < 0 Todo: memory allocation Parameters: slave  EtherCAT slave Definition at line 533 of file slave.c.

ssize_t ec_show_slave_attribute (  struct kobject *  kobj, struct attribute *  attr, char *  buffer )

Formats attribute data for SysFS read access. Returns: number of bytes to read Parameters: kobj  slave's kobject attr  attribute buffer  memory to store data Definition at line 1346 of file slave.c.

ssize_t ec_store_slave_attribute (  struct kobject *  kobj, struct attribute *  attr, const char *  buffer, size_t  size )

Formats attribute data for SysFS write access. Returns: number of bytes processed, or negative error code Parameters: kobj  slave's kobject attr  attribute buffer  memory with data size  size of data to store Definition at line 1424 of file slave.c.

int ec_slave_init (  ec_slave_t *  slave, ec_master_t *  master, uint16_t  ring_position, uint16_t  station_address )

Slave constructor. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave master  EtherCAT master ring_position  ring position station_address  station address to configure Definition at line 107 of file slave.c.

void ec_slave_clear (  struct kobject *  kobj  )

Slave destructor. Parameters: kobj  kobject of the slave Definition at line 185 of file slave.c.

int ec_slave_fetch (  ec_slave_t *  slave  )

Reads all necessary information from a slave. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave Definition at line 260 of file slave.c.

int ec_slave_sii_read16 (  ec_slave_t *  slave, uint16_t  offset, uint16_t *  target )

Reads 16 bit from the slave information interface (SII). Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave offset  address of the SII register to read target  target memory Definition at line 339 of file slave.c.

int ec_slave_sii_read32 (  ec_slave_t *  slave, uint16_t  offset, uint32_t *  target )

Reads 32 bit from the slave information interface (SII). Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave offset  address of the SII register to read target  target memory Definition at line 400 of file slave.c.

int ec_slave_sii_write16 (  ec_slave_t *  slave, uint16_t  offset, uint16_t  value )

Writes 16 bit of data to the slave information interface (SII). Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave offset  address of the SII register to write value  new value Definition at line 461 of file slave.c.

int ec_slave_fetch_strings (  ec_slave_t *  slave, const uint8_t *  data )

Fetches data from a STRING category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data Definition at line 625 of file slave.c.

int ec_slave_fetch_general (  ec_slave_t *  slave, const uint8_t *  data )

Fetches data from a GENERAL category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data Definition at line 663 of file slave.c.

int ec_slave_fetch_sync (  ec_slave_t *  slave, const uint8_t *  data, size_t  word_count )

Fetches data from a SYNC MANAGER category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data word_count  number of words Definition at line 692 of file slave.c.

int ec_slave_fetch_pdo (  ec_slave_t *  slave, const uint8_t *  data, size_t  word_count, ec_pdo_type_t  pdo_type )

Fetches data from a [RT]XPDO category. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  category data word_count  number of words pdo_type  PDO type Definition at line 728 of file slave.c.

int ec_slave_locate_string (  ec_slave_t *  slave, unsigned int  index, char **  ptr )

Searches the string list for an index and allocates a new string. Returns: 0 in case of success, else < 0 Todo: documentation Parameters: slave  EtherCAT slave index  string index ptr  Address of the string pointer Definition at line 790 of file slave.c.

void ec_slave_state_ack (  ec_slave_t *  slave, uint8_t  state )

Acknowledges an error after a state transition. Parameters: slave  EtherCAT slave state  previous state Definition at line 838 of file slave.c.

void ec_slave_read_al_status_code (  ec_slave_t *  slave  )

Reads the AL status code of a slave and displays it. If the AL status code is not supported, or if no error occurred (both resulting in code = 0), nothing is displayed. Parameters: slave  EtherCAT slave Definition at line 896 of file slave.c.

int ec_slave_state_change (  ec_slave_t *  slave, uint8_t  state )

Does a state transition. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave state  new state Definition at line 931 of file slave.c.

int ec_slave_prepare_fmmu (  ec_slave_t *  slave, const ec_domain_t *  domain, const ec_sync_t *  sync )

Prepares an FMMU configuration. Configuration data for the FMMU is saved in the slave structure and is written to the slave in ecrt_master_activate(). The FMMU configuration is done in a way, that the complete data range of the corresponding sync manager is covered. Seperate FMMUs arce configured for each domain. If the FMMU configuration is already prepared, the function returns with success. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave domain  domain sync  sync manager Definition at line 1009 of file slave.c.

void ec_slave_print (  const ec_slave_t *  slave, unsigned int  verbosity )

Outputs all information about a certain slave. Verbosity: 0: Only slave types and addresses 1: with EEPROM information >1: with SDO dictionaries Parameters: slave  EtherCAT slave verbosity  verbosity level Definition at line 1047 of file slave.c.

int ec_slave_check_crc (  ec_slave_t *  slave  )

Outputs the values of the CRC faoult counters and resets them. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave Definition at line 1212 of file slave.c.

ssize_t ec_slave_write_eeprom (  ec_slave_t *  slave, const uint8_t *  data, size_t  size )

Schedules an EEPROM write operation. Returns: 0 in case of success, else < 0 Parameters: slave  EtherCAT slave data  new EEPROM data size  size of data in bytes Definition at line 1269 of file slave.c.

size_t ec_slave_calc_sync_size (  const ec_slave_t *  slave, const ec_sync_t *  sync )

Returns: size of sync manager contents Parameters: slave  EtherCAT slave sync  sync manager Definition at line 1465 of file slave.c.

uint16_t ec_slave_calc_eeprom_sync_size (  const ec_slave_t *  slave, const ec_eeprom_sync_t *  sync )

Calculates the size of a sync manager by evaluating PDO sizes. Returns: sync manager size Parameters: slave  EtherCAT slave sync  sync manager Definition at line 1503 of file slave.c.

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