Global definitions and macros.
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Data Structures |
| struct | ec_sii_coe_details_t |
| | Slave information interface CANopen over EtherCAT details flags. More...
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| struct | ec_sii_general_flags_t |
| | Slave information interface general flags. More...
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| struct | ec_sync_signal_t |
| | EtherCAT slave sync signal configuration. More...
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| struct | ec_code_msg_t |
| | Code/Message pair. More...
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Defines |
| #define | EC_IO_TIMEOUT 500 |
| | Datagram timeout in microseconds.
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| #define | EC_SDO_INJECTION_TIMEOUT 10000 |
| | SDO injection timeout in microseconds.
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| #define | EC_BYTE_TRANSMISSION_TIME_NS 80 |
| | Time to send a byte in nanoseconds.
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| #define | EC_FSM_RETRIES 3 |
| | Number of state machine retries on datagram timeout.
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| #define | EC_WAIT_SDO_DICT 3 |
| | Seconds to wait before fetching SDO dictionary after slave entered PREOP state.
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| #define | EC_STATE_STRING_SIZE 32 |
| | Minimum size of a buffer used with ec_state_string().
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| #define | EC_MAX_SII_SIZE 4096 |
| | Maximum SII size in words, to avoid infinite reading.
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| #define | EC_RATE_COUNT 3 |
| | Number of statistic rate intervals to maintain.
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| #define | EC_FRAME_HEADER_SIZE 2 |
| | Size of an EtherCAT frame header.
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| #define | EC_DATAGRAM_HEADER_SIZE 10 |
| | Size of an EtherCAT datagram header.
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| #define | EC_DATAGRAM_FOOTER_SIZE 2 |
| | Size of an EtherCAT datagram footer.
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| #define | EC_ADDR_LEN 4 |
| | Size of the EtherCAT address field.
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| #define | EC_MAX_DATA_SIZE |
| | Resulting maximum data size of a single datagram in a frame.
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| #define | EC_MBOX_HEADER_SIZE 6 |
| | Mailbox header size.
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| #define | EC_FIRST_SII_CATEGORY_OFFSET 0x40 |
| | Word offset of first SII category.
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| #define | EC_SYNC_PAGE_SIZE 8 |
| | Size of a sync manager configuration page.
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| #define | EC_MAX_FMMUS 16 |
| | Maximum number of FMMUs per slave.
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| #define | EC_FMMU_PAGE_SIZE 16 |
| | Size of an FMMU configuration page.
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| #define | EC_SYNC_SIGNAL_COUNT 2 |
| | Number of DC sync signals.
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| #define | EC_DATAGRAM_NAME_SIZE 20 |
| | Size of the datagram description string.
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| #define | EC_SLAVE_STATE_MASK 0x0F |
| | Slave state mask.
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| #define | EC_INFO(fmt, args...) printk(KERN_INFO "EtherCAT: " fmt, ##args) |
| | Convenience macro for printing EtherCAT-specific information to syslog.
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| #define | EC_ERR(fmt, args...) printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args) |
| | Convenience macro for printing EtherCAT-specific errors to syslog.
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| #define | EC_WARN(fmt, args...) printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args) |
| | Convenience macro for printing EtherCAT-specific warnings to syslog.
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| #define | EC_DBG(fmt, args...) printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args) |
| | Convenience macro for printing EtherCAT debug messages to syslog.
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#define | EC_ABS(X) ((X) >= 0 ? (X) : -(X)) |
| | Absolute value.
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Typedefs |
| typedef struct ec_slave | ec_slave_t |
Enumerations |
| enum | ec_slave_state_t {
EC_SLAVE_STATE_UNKNOWN = 0x00,
EC_SLAVE_STATE_INIT = 0x01,
EC_SLAVE_STATE_PREOP = 0x02,
EC_SLAVE_STATE_BOOT = 0x03,
EC_SLAVE_STATE_SAFEOP = 0x04,
EC_SLAVE_STATE_OP = 0x08,
EC_SLAVE_STATE_ACK_ERR = 0x10
} |
| | State of an EtherCAT slave. More...
|
| enum | {
EC_MBOX_AOE = 0x01,
EC_MBOX_EOE = 0x02,
EC_MBOX_COE = 0x04,
EC_MBOX_FOE = 0x08,
EC_MBOX_SOE = 0x10,
EC_MBOX_VOE = 0x20
} |
| | Supported mailbox protocols. More...
|
| enum | ec_slave_dc_range_t { EC_DC_32,
EC_DC_64
} |
| | EtherCAT slave distributed clocks range. More...
|
| enum | { EC_SDO_ENTRY_ACCESS_PREOP,
EC_SDO_ENTRY_ACCESS_SAFEOP,
EC_SDO_ENTRY_ACCESS_OP,
EC_SDO_ENTRY_ACCESS_COUNT
} |
| | Access states for SDO entries. More...
|
| enum | ec_device_index_t { EC_DEVICE_MAIN,
EC_DEVICE_BACKUP
} |
| | Master devices. More...
|
| enum | ec_internal_request_state_t {
EC_INT_REQUEST_INIT,
EC_INT_REQUEST_QUEUED,
EC_INT_REQUEST_BUSY,
EC_INT_REQUEST_SUCCESS,
EC_INT_REQUEST_FAILURE
} |
| | Generic request state. More...
|
| enum | ec_origin_t { EC_ORIG_INTERNAL,
EC_ORIG_EXTERNAL
} |
| | Origin type. More...
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Functions |
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unsigned int | ec_master_count (void) |
| | Get the number of masters.
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| void | ec_print_data (const uint8_t *, size_t) |
| | Outputs frame contents for debugging purposes.
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void | ec_print_data_diff (const uint8_t *, const uint8_t *, size_t) |
| | Outputs frame contents and differences for debugging purposes.
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| size_t | ec_state_string (uint8_t, char *, uint8_t) |
| | Prints slave states in clear text.
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| ssize_t | ec_mac_print (const uint8_t *, char *) |
| | Print a MAC address to a buffer.
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| int | ec_mac_is_zero (const uint8_t *) |
| ec_master_t * | ecrt_request_master_err (unsigned int) |
| | Request a master.
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Variables |
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const char * | ec_device_names [2] |
| | Device names.
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| char * | ec_master_version_str |
| | Version string.
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| const ec_request_state_t | ec_request_state_translation_table [] |
| | Global request state type translation table.
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Global definitions and macros.
