slave_config.h File Reference

EtherCAT slave configuration structure. More...

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Data Structures

struct ec_slave_config

EtherCAT slave configuration. More...

Defines

#define EC_CONFIG_INFO(sc, fmt, args...)

Convenience macro for printing configuration-specific information to syslog.

#define EC_CONFIG_ERR(sc, fmt, args...)

Convenience macro for printing configuration-specific errors to syslog.

#define EC_CONFIG_WARN(sc, fmt, args...)

Convenience macro for printing configuration-specific warnings to syslog.

#define EC_CONFIG_DBG(sc, level, fmt, args...)

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

Functions

void ec_slave_config_init (ec_slave_config_t *, ec_master_t *, uint16_t, uint16_t, uint32_t, uint32_t)

Slave configuration constructor.

void ec_slave_config_clear (ec_slave_config_t *)

Slave configuration destructor.

int ec_slave_config_attach (ec_slave_config_t *)

Attaches the configuration to the addressed slave object.

void ec_slave_config_detach (ec_slave_config_t *)

Detaches the configuration from a slave object.

void ec_slave_config_load_default_sync_config (ec_slave_config_t *)

Loads the default PDO assignment from the slave object.

unsigned int ec_slave_config_sdo_count (const ec_slave_config_t *)

Get the number of SDO configurations.

const ec_sdo_request_t * ec_slave_config_get_sdo_by_pos_const (const ec_slave_config_t *, unsigned int)

Finds an SDO configuration via its position in the list.

unsigned int ec_slave_config_idn_count (const ec_slave_config_t *)

Get the number of IDN configurations.

const ec_soe_request_t * ec_slave_config_get_idn_by_pos_const (const ec_slave_config_t *, unsigned int)

Finds an IDN configuration via its position in the list.

ec_sdo_request_t * ec_slave_config_find_sdo_request (ec_slave_config_t *, unsigned int)

Finds a CoE handler via its position in the list.

ec_reg_request_t * ec_slave_config_find_reg_request (ec_slave_config_t *, unsigned int)

Finds a register handler via its position in the list.

ec_voe_handler_t * ec_slave_config_find_voe_handler (ec_slave_config_t *, unsigned int)

Finds a VoE handler via its position in the list.

ec_sdo_request_t * ecrt_slave_config_create_sdo_request_err (ec_slave_config_t *, uint16_t, uint8_t, size_t)

Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return value.

ec_voe_handler_t * ecrt_slave_config_create_voe_handler_err (ec_slave_config_t *, size_t)

Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return value.

ec_reg_request_t * ecrt_slave_config_create_reg_request_err (ec_slave_config_t *, size_t)

Same as ecrt_slave_config_create_reg_request(), but with ERR_PTR() return value.

Detailed Description

EtherCAT slave configuration structure.

Definition in file slave_config.h.

Define Documentation

#define EC_CONFIG_INFO	(	sc,
		fmt,
		args...	)

Value:

printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \
            sc->alias, sc->position, ##args)

Convenience macro for printing configuration-specific information to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters:

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

Definition at line 61 of file slave_config.h.

#define EC_CONFIG_ERR	(	sc,
		fmt,
		args...	)

Value:

printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \
            sc->alias, sc->position, ##args)

Convenience macro for printing configuration-specific errors to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters:

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

Definition at line 75 of file slave_config.h.

#define EC_CONFIG_WARN	(	sc,
		fmt,
		args...	)

Value:

printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \
            sc->master->index, sc->alias, sc->position, ##args)

Convenience macro for printing configuration-specific warnings to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters:

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

Definition at line 89 of file slave_config.h.

#define EC_CONFIG_DBG	(	sc,
		level,
		fmt,
		args...	)

Value:

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

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

This will print the message in fmt with a prefixed "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.

Parameters:

	sc	EtherCAT slave configuration
	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_config.h.

Function Documentation

void ec_slave_config_init	(	ec_slave_config_t *	sc,
		ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position,
		uint32_t	vendor_id,
		uint32_t	product_code
	)

Slave configuration constructor.

See ecrt_master_slave_config() for the usage of the alias and position parameters.

Parameters:

sc	Slave configuration.
master	EtherCAT master.
alias	Slave alias.
position	Slave position.
vendor_id	Expected vendor ID.
product_code	Expected product code.

Definition at line 55 of file slave_config.c.

void ec_slave_config_clear ( ec_slave_config_t * sc )

Slave configuration destructor.

Clears and frees a slave configuration object.

Parameters:

sc	Slave configuration.

Definition at line 102 of file slave_config.c.

int ec_slave_config_attach ( ec_slave_config_t * sc )

Attaches the configuration to the addressed slave object.

Return values:

	0	Success.
	<0	Error code.

Parameters:

sc	Slave configuration.

Definition at line 208 of file slave_config.c.

unsigned int ec_slave_config_sdo_count ( const ec_slave_config_t * sc )

Get the number of SDO configurations.

Returns:: Number of SDO configurations.

Parameters:

sc	Slave configuration.

Definition at line 372 of file slave_config.c.

const ec_sdo_request_t* ec_slave_config_get_sdo_by_pos_const	(	const ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds an SDO configuration via its position in the list.

Const version.

Returns:: Search result, or NULL.

Parameters:

sc	Slave configuration.
pos	Position in the list.

Definition at line 394 of file slave_config.c.

unsigned int ec_slave_config_idn_count ( const ec_slave_config_t * sc )

Get the number of IDN configurations.

Returns:: Number of SDO configurations.

Parameters:

sc	Slave configuration.

Definition at line 416 of file slave_config.c.

const ec_soe_request_t* ec_slave_config_get_idn_by_pos_const	(	const ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds an IDN configuration via its position in the list.

Const version.

Returns:: Search result, or NULL.

Parameters:

sc	Slave configuration.
pos	Position in the list.

Definition at line 438 of file slave_config.c.

ec_sdo_request_t* ec_slave_config_find_sdo_request	(	ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a CoE handler via its position in the list.

Returns:: Search result, or NULL.

Parameters:

sc	Slave configuration.
pos	Position in the list.

Definition at line 460 of file slave_config.c.

ec_reg_request_t* ec_slave_config_find_reg_request	(	ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a register handler via its position in the list.

Returns:: Search result, or NULL.

Parameters:

sc	Slave configuration.
pos	Position in the list.

Definition at line 482 of file slave_config.c.

ec_voe_handler_t* ec_slave_config_find_voe_handler	(	ec_slave_config_t *	sc,
		unsigned int	pos
	)

Finds a VoE handler via its position in the list.

Returns:: Search result, or NULL.

Parameters:

sc	Slave configuration.
pos	Position in the list.

Definition at line 504 of file slave_config.c.


Data Structures
struct	ec_slave_config
	EtherCAT slave configuration. More...
Defines
#define	EC_CONFIG_INFO(sc, fmt, args...)
	Convenience macro for printing configuration-specific information to syslog.
#define	EC_CONFIG_ERR(sc, fmt, args...)
	Convenience macro for printing configuration-specific errors to syslog.
#define	EC_CONFIG_WARN(sc, fmt, args...)
	Convenience macro for printing configuration-specific warnings to syslog.
#define	EC_CONFIG_DBG(sc, level, fmt, args...)
	Convenience macro for printing configuration-specific debug messages to syslog.
Functions
void	ec_slave_config_init (ec_slave_config_t , ec_master_t , uint16_t, uint16_t, uint32_t, uint32_t)
	Slave configuration constructor.
void	ec_slave_config_clear (ec_slave_config_t *)
	Slave configuration destructor.
int	ec_slave_config_attach (ec_slave_config_t *)
	Attaches the configuration to the addressed slave object.
void	ec_slave_config_detach (ec_slave_config_t *)
	Detaches the configuration from a slave object.
void	ec_slave_config_load_default_sync_config (ec_slave_config_t *)
	Loads the default PDO assignment from the slave object.
unsigned int	ec_slave_config_sdo_count (const ec_slave_config_t *)
	Get the number of SDO configurations.
const ec_sdo_request_t *	ec_slave_config_get_sdo_by_pos_const (const ec_slave_config_t *, unsigned int)
	Finds an SDO configuration via its position in the list.
unsigned int	ec_slave_config_idn_count (const ec_slave_config_t *)
	Get the number of IDN configurations.
const ec_soe_request_t *	ec_slave_config_get_idn_by_pos_const (const ec_slave_config_t *, unsigned int)
	Finds an IDN configuration via its position in the list.
ec_sdo_request_t *	ec_slave_config_find_sdo_request (ec_slave_config_t *, unsigned int)
	Finds a CoE handler via its position in the list.
ec_reg_request_t *	ec_slave_config_find_reg_request (ec_slave_config_t *, unsigned int)
	Finds a register handler via its position in the list.
ec_voe_handler_t *	ec_slave_config_find_voe_handler (ec_slave_config_t *, unsigned int)
	Finds a VoE handler via its position in the list.
ec_sdo_request_t *	ecrt_slave_config_create_sdo_request_err (ec_slave_config_t *, uint16_t, uint8_t, size_t)
	Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return value.
ec_voe_handler_t *	ecrt_slave_config_create_voe_handler_err (ec_slave_config_t *, size_t)
	Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return value.
ec_reg_request_t *	ecrt_slave_config_create_reg_request_err (ec_slave_config_t *, size_t)
	Same as ecrt_slave_config_create_reg_request(), but with ERR_PTR() return value.