slave.h File Reference

EtherCAT slave structure. More...

Go to the source code of this file.

Data Structures
struct	ec_slave_port_t
	Slave port. More...
struct	ec_sii_t
	Slave information interface data. More...
struct	ec_slave
	EtherCAT slave. More...
Defines
#define	EC_SLAVE_INFO(slave, fmt, args...)
	Convenience macro for printing slave-specific information to syslog.
#define	EC_SLAVE_ERR(slave, fmt, args...)
	Convenience macro for printing slave-specific errors to syslog.
#define	EC_SLAVE_WARN(slave, fmt, args...)
	Convenience macro for printing slave-specific warnings to syslog.
#define	EC_SLAVE_DBG(slave, level, fmt, args...)
	Convenience macro for printing slave-specific debug messages to syslog.
Functions
void	ec_slave_init (ec_slave_t *, ec_master_t *, ec_device_index_t, uint16_t, uint16_t)
	Slave constructor.
void	ec_slave_clear (ec_slave_t *)
	Slave destructor.
void	ec_slave_clear_sync_managers (ec_slave_t *)
	Clear the sync manager array.
void	ec_slave_request_state (ec_slave_t *, ec_slave_state_t)
	Request a slave state and resets the error flag.
void	ec_slave_set_state (ec_slave_t *, ec_slave_state_t)
	Sets the application state of a slave.
int	ec_slave_fetch_sii_strings (ec_slave_t *, const uint8_t *, size_t)
	Fetches data from a STRING category.
int	ec_slave_fetch_sii_general (ec_slave_t *, const uint8_t *, size_t)
	Fetches data from a GENERAL category.
int	ec_slave_fetch_sii_syncs (ec_slave_t *, const uint8_t *, size_t)
	Fetches data from a SYNC MANAGER category.
int	ec_slave_fetch_sii_pdos (ec_slave_t *, const uint8_t *, size_t, ec_direction_t)
	Fetches data from a [RT]xPDO category.
ec_sync_t *	ec_slave_get_sync (ec_slave_t *, uint8_t)
	Get the sync manager given an index.
void	ec_slave_sdo_dict_info (const ec_slave_t *, unsigned int *, unsigned int *)
	Counts the total number of SDOs and entries in the dictionary.
ec_sdo_t *	ec_slave_get_sdo (ec_slave_t *, uint16_t)
	Get an SDO from the dictionary.
const ec_sdo_t *	ec_slave_get_sdo_const (const ec_slave_t *, uint16_t)
	Get an SDO from the dictionary.
const ec_sdo_t *	ec_slave_get_sdo_by_pos_const (const ec_slave_t *, uint16_t)
	Get an SDO from the dictionary, given its position in the list.
uint16_t	ec_slave_sdo_count (const ec_slave_t *)
	Get the number of SDOs in the dictionary.
const ec_pdo_t *	ec_slave_find_pdo (const ec_slave_t *, uint16_t)
	Finds a mapped PDO.
void	ec_slave_attach_pdo_names (ec_slave_t *)
	Attach PDO names.
void	ec_slave_calc_port_delays (ec_slave_t *)
	Calculates the port transmission delays.
void	ec_slave_calc_transmission_delays_rec (ec_slave_t *, uint32_t *)
	Recursively calculates transmission delays.

---

Detailed Description

EtherCAT slave structure.

Definition in file slave.h.

---

Define Documentation

#define EC_SLAVE_INFO	(	slave,
		fmt,
		args...		)

Value:

printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
            slave->ring_position, ##args)

Convenience macro for printing slave-specific information to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters:

	slave	EtherCAT slave
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 62 of file slave.h.

#define EC_SLAVE_ERR	(	slave,
		fmt,
		args...		)

Value:

printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
            slave->ring_position, ##args)

Convenience macro for printing slave-specific errors to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters:

	slave	EtherCAT slave
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 76 of file slave.h.

#define EC_SLAVE_WARN	(	slave,
		fmt,
		args...		)

Value:

printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
            slave->master->index, slave->ring_position, ##args)

Convenience macro for printing slave-specific warnings to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters:

	slave	EtherCAT slave
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 90 of file slave.h.

#define EC_SLAVE_DBG	(	slave,
		level,
		fmt,
		args...		)

Value:

do { \
        if (slave->master->debug_level >= level) { \
            printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
                    slave->master->index, slave->ring_position, ##args); \
        } \
    } while (0)

Convenience macro for printing slave-specific debug messages to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and POSITION is the slave's ring position.

Parameters:

	slave	EtherCAT slave
	level	Debug level. Master's debug level must be >= level for output.
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 106 of file slave.h.

---

Function Documentation

void ec_slave_init	(	ec_slave_t *	slave,
		ec_master_t *	master,
		ec_device_index_t	dev_idx,
		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
dev_idx	Device index.
ring_position	ring position
station_address	station address to configure

Definition at line 62 of file slave.c.

void ec_slave_clear

(

ec_slave_t *

slave

)

Slave destructor.

Clears and frees a slave object.

Parameters:

slave

EtherCAT slave

Definition at line 170 of file slave.c.

int ec_slave_fetch_sii_strings	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size
	)

Fetches data from a STRING category.

Todo:

range checking

Returns:

0 in case of success, else < 0

Parameters:

slave	EtherCAT slave
data	category data
data_size	number of bytes

Definition at line 312 of file slave.c.

int ec_slave_fetch_sii_general	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size
	)

Fetches data from a GENERAL category.

Returns:

0 in case of success, else < 0

Parameters:

slave	EtherCAT slave
data	category data
data_size	size in bytes

Definition at line 368 of file slave.c.

int ec_slave_fetch_sii_syncs	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size
	)

Fetches data from a SYNC MANAGER category.

Appends the sync managers described in the category to the existing ones.

Returns:

0 in case of success, else < 0

Parameters:

slave	EtherCAT slave.
data	Category data.
data_size	Number of bytes.

Definition at line 419 of file slave.c.

int ec_slave_fetch_sii_pdos	(	ec_slave_t *	slave,
		const uint8_t *	data,
		size_t	data_size,
		ec_direction_t	dir
	)

Fetches data from a [RT]xPDO category.

Returns:

0 in case of success, else < 0

Parameters:

slave	EtherCAT slave
data	category data
data_size	number of bytes
dir	PDO direction.

Definition at line 485 of file slave.c.

ec_sync_t* ec_slave_get_sync	(	ec_slave_t *	slave,
		uint8_t	sync_index
	)

Get the sync manager given an index.

Returns:

pointer to sync manager, or NULL.

Parameters:

slave	EtherCAT slave.
sync_index	Sync manager index.

Definition at line 590 of file slave.c.

ec_sdo_t* ec_slave_get_sdo	(	ec_slave_t *	slave,
		uint16_t	index
	)

Get an SDO from the dictionary.

Returns:

The desired SDO, or NULL.

Parameters:

slave	EtherCAT slave
index	SDO index

Definition at line 636 of file slave.c.

const ec_sdo_t* ec_slave_get_sdo_const	(	const ec_slave_t *	slave,
		uint16_t	index
	)

Get an SDO from the dictionary.

const version.

Returns:

The desired SDO, or NULL.

Parameters:

slave	EtherCAT slave
index	SDO index

Definition at line 662 of file slave.c.

const ec_sdo_t* ec_slave_get_sdo_by_pos_const	(	const ec_slave_t *	slave,
		uint16_t	sdo_position
	)

Get an SDO from the dictionary, given its position in the list.

Returns:

The desired SDO, or NULL.

Parameters:

slave	EtherCAT slave.
sdo_position	SDO list position.

Definition at line 684 of file slave.c.

uint16_t ec_slave_sdo_count

(

const ec_slave_t *

slave

)

Get the number of SDOs in the dictionary.

Returns:

SDO count.

Parameters:

slave

EtherCAT slave.

Definition at line 706 of file slave.c.

const ec_pdo_t* ec_slave_find_pdo	(	const ec_slave_t *	slave,
		uint16_t	index
	)

Finds a mapped PDO.

Returns:

The desired PDO object, or NULL.

Parameters:

slave	Slave.
index	PDO index to find.

Definition at line 725 of file slave.c.