ethercatconfig.c File Reference

Configuration module for EtherCAT master. More...

#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>
#include <youbot_driver/soem/ethercattype.h>
#include <youbot_driver/soem/nicdrv.h>
#include <youbot_driver/soem/ethercatbase.h>
#include <youbot_driver/soem/ethercatmain.h>
#include <youbot_driver/soem/ethercatcoe.h>
#include <youbot_driver/soem/ethercatsoe.h>
#include <youbot_driver/soem/ethercatconfig.h>
#include <youbot_driver/soem/ethercatconfiglist.h>

Include dependency graph for ethercatconfig.c:

Go to the source code of this file.

Classes
struct	ec_configlist_t
Defines
#define	EC_DEFAULTDOSM0   0x00010044
#define	EC_DEFAULTMBXSM0   0x00010026
#define	EC_DEFAULTMBXSM1   0x00010022
#define	EC_PRINT(...)   do {} while (0)
Functions
int	ec_config (uint8 usetable, void *pIOmap)
int	ec_config_init (uint8 usetable)
int	ec_config_map (void *pIOmap)
int	ec_config_map_group (void *pIOmap, uint8 group)
int	ec_findconfig (uint32 man, uint32 id)
int	ec_reconfig_slave (uint16 slave)
int	ec_recover_slave (uint16 slave)
Variables
static ec_eepromFMMUt	ec_FMMU
static ec_eepromSMt	ec_SM

---

Detailed Description

Configuration module for EtherCAT master.

After successful initialisation with ec_init() or ec_init_redundant() the slaves can be auto configured with this module.

Definition in file ethercatconfig.c.

---

Define Documentation

#define EC_DEFAULTDOSM0   0x00010044

standard SM0 flags configuration for digital output slaves

Definition at line 106 of file ethercatconfig.c.

#define EC_DEFAULTMBXSM0   0x00010026

standard SM0 flags configuration for mailbox slaves

Definition at line 102 of file ethercatconfig.c.

#define EC_DEFAULTMBXSM1   0x00010022

standard SM1 flags configuration for mailbox slaves

Definition at line 104 of file ethercatconfig.c.

#define EC_PRINT

(

...

)

do {} while (0)

Definition at line 67 of file ethercatconfig.c.

---

Function Documentation

int ec_config	(	uint8	usetable,
		void *	pIOmap
	)

Enumerate / map and init all slaves.

Parameters:

[in]	usetable	= TRUE when using configtable to init slaves, FALSE otherwise
[out]	pIOmap	= pointer to IOmap

Returns:

Workcounter of slave discover datagram = number of slaves found

Definition at line 909 of file ethercatconfig.c.

int ec_config_init

(

uint8

usetable

)

Enumerate and init all slaves.

Parameters:

[in]

usetable

= TRUE when using configtable to init slaves, FALSE otherwise

Returns:

Workcounter of slave discover datagram = number of slaves found

Definition at line 138 of file ethercatconfig.c.

int ec_config_map

(

void *

pIOmap

)

Map all PDOs from slaves to IOmap.

Parameters:

[out]

pIOmap

= pointer to IOmap

Returns:

IOmap size

Definition at line 898 of file ethercatconfig.c.

int ec_config_map_group	(	void *	pIOmap,
		uint8	group
	)

Map all PDOs in one group of slaves to IOmap.

Parameters:

[out]	pIOmap	= pointer to IOmap
[in]	group	= group to map, 0 = all groups

Returns:

IOmap size

Definition at line 471 of file ethercatconfig.c.

int ec_findconfig	(	uint32	man,
		uint32	id
	)

Find slave in standard configuration list ec_configlist[]

Parameters:

[in]	man	= manufacturer
[in]	id	= ID

Returns:

index in ec_configlist[] when found, otherwise 0

Definition at line 119 of file ethercatconfig.c.

int ec_reconfig_slave

(

uint16

slave

)

Reconfigure slave.

Parameters:

[in]

slave

= slave to reconfigure

Returns:

Slave state

Definition at line 964 of file ethercatconfig.c.

int ec_recover_slave

(

uint16

slave

)

Recover slave.

Parameters:

[in]

slave

= slave to recover

Returns:

>0 if successful

Definition at line 923 of file ethercatconfig.c.

---

Variable Documentation

ec_eepromFMMUt ec_FMMU [static]

buffer for EEPROM FMMU data

Definition at line 111 of file ethercatconfig.c.

ec_eepromSMt ec_SM [static]

buffer for EEPROM SM data

Definition at line 109 of file ethercatconfig.c.