EtherCAT slave structure. More...

Data Structures
struct	ec_slave_port_t
	Slave port. More...

struct	ec_sii_t
	Extracted slave information interface data. More...

struct	ec_sii_image_t
	Complete slave information interface data image. More...

struct	ec_slave
	EtherCAT slave. More...

Macros
#define	EC_SLAVE_INFO(slave, fmt, args...)
	Convenience macro for printing slave-specific information to syslog. More...

#define	EC_SLAVE_ERR(slave, fmt, args...)
	Convenience macro for printing slave-specific errors to syslog. More...

#define	EC_SLAVE_WARN(slave, fmt, args...)
	Convenience macro for printing slave-specific warnings to syslog. More...

#define	EC_SLAVE_DBG(slave, level, fmt, args...)
	Convenience macro for printing slave-specific debug messages to syslog. More...

Functions
void	ec_slave_init (ec_slave_t , ec_master_t , ec_device_index_t, uint16_t, uint16_t)
	Slave constructor. More...

void	ec_slave_sii_image_init (ec_sii_image_t *)

void	ec_slave_clear (ec_slave_t *)
	Slave destructor. More...

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_dl_status (ec_slave_t *, uint16_t)
	Sets the data-link state of a slave.

void	ec_slave_set_al_status (ec_slave_t *, ec_slave_state_t)
	Sets the application state of a slave.

void	ec_slave_request_reboot (ec_slave_t *)
	Request a slave reboot (some slaves will ignore this).

int	ec_slave_fetch_sii_strings (ec_slave_t , const uint8_t , size_t)
	Fetches data from a STRING category. More...

int	ec_slave_fetch_sii_general (ec_slave_t , const uint8_t , size_t)
	Fetches data from a GENERAL category. More...

int	ec_slave_fetch_sii_syncs (ec_slave_t , const uint8_t , size_t)
	Fetches data from a SYNC MANAGER category. More...

int	ec_slave_fetch_sii_pdos (ec_slave_t , const uint8_t , size_t, ec_direction_t)
	Fetches data from a [RT]xPDO category. More...

ec_sync_t *	ec_slave_get_sync (ec_slave_t *, uint8_t)
	Get the sync manager given an index. More...

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. More...

const ec_sdo_t *	ec_slave_get_sdo_const (const ec_slave_t *, uint16_t)
	Get an SDO from the dictionary. More...

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. More...

uint16_t	ec_slave_sdo_count (const ec_slave_t *)
	Get the number of SDOs in the dictionary. More...

const ec_pdo_t *	ec_slave_find_pdo (const ec_slave_t *, uint16_t)
	Finds a mapped PDO. More...

void	ec_slave_attach_pdo_names (ec_slave_t *)
	Attach PDO names.

void	ec_slave_calc_upstream_port (ec_slave_t *)
	Calculates which of ports 0-3 appears to be the upstream one.

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.

void	ec_read_mbox_lock_clear (ec_slave_t *)
	Clears the mailbox lock.

int	ec_read_mbox_locked (ec_slave_t *)
	Return the current mailbox lock status and lock it if not locked.

Detailed Description

EtherCAT slave structure.

Definition in file slave.h.

Macro Definition Documentation

◆ EC_SLAVE_INFO

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

Value:

printk(KERN_INFO "EtherCAT %u-%s-%u: " fmt, slave->master->index, \

ec_device_names[slave->device_index!=0], slave->ring_position, ##args)

ec_device_names

const char * ec_device_names[2]

Device names.

Definition: module.c:472

Convenience macro for printing slave-specific information to syslog.

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

Parameters

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

Definition at line 63 of file slave.h.

◆ EC_SLAVE_ERR

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

Value:

printk(KERN_ERR "EtherCAT ERROR %u-%s-%u: " fmt, slave->master->index, \

ec_device_names[slave->device_index!=0], slave->ring_position, ##args)

ec_device_names

const char * ec_device_names[2]

Device names.

Definition: module.c:472

Convenience macro for printing slave-specific errors to syslog.

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

Parameters

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

Definition at line 77 of file slave.h.

◆ EC_SLAVE_WARN

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

Value:

printk(KERN_WARNING "EtherCAT WARNING %u-%s-%u: " fmt, \
            slave->master->index, ec_device_names[slave->device_index!=0], \
            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>-<DEV>-<POSITION>: ", where INDEX is the master index, DEV is the device, and POSITION is the slave's ring position.

Parameters

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

Definition at line 91 of file slave.h.

◆ EC_SLAVE_DBG

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

Value:

do { \
        if (slave->master->debug_level >= level) { \
            printk(KERN_DEBUG "EtherCAT DEBUG %u-%s-%u: " fmt, \
                    slave->master->index, ec_device_names[slave->device_index!=0], \
                    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>-<DEV>-<POSITION>: ", where INDEX is the master index, DEV is the device, 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 108 of file slave.h.

Function Documentation

◆ ec_slave_init()

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.

◆ ec_slave_clear()

void ec_slave_clear ( ec_slave_t * slave )

Slave destructor.

Clears and frees a slave object.

Parameters

slave EtherCAT slave

Definition at line 250 of file slave.c.

◆ ec_slave_fetch_sii_strings()

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 464 of file slave.c.

◆ ec_slave_fetch_sii_general()

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 525 of file slave.c.

◆ ec_slave_fetch_sii_syncs()

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 581 of file slave.c.

◆ ec_slave_fetch_sii_pdos()

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 652 of file slave.c.

◆ ec_slave_get_sync()

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 767 of file slave.c.

◆ ec_slave_get_sdo()

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 819 of file slave.c.

◆ ec_slave_get_sdo_const()

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 845 of file slave.c.

◆ ec_slave_get_sdo_by_pos_const()

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 867 of file slave.c.

◆ ec_slave_sdo_count()

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 889 of file slave.c.

◆ ec_slave_find_pdo()

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 908 of file slave.c.

Data Structures

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ EC_SLAVE_INFO

◆ EC_SLAVE_ERR

◆ EC_SLAVE_WARN

◆ EC_SLAVE_DBG

Function Documentation

◆ ec_slave_init()

◆ ec_slave_clear()

◆ ec_slave_fetch_sii_strings()

◆ ec_slave_fetch_sii_general()

◆ ec_slave_fetch_sii_syncs()

◆ ec_slave_fetch_sii_pdos()

◆ ec_slave_get_sync()

◆ ec_slave_get_sdo()

◆ ec_slave_get_sdo_const()

◆ ec_slave_get_sdo_by_pos_const()

◆ ec_slave_sdo_count()

◆ ec_slave_find_pdo()