ethercatdc.c File Reference

Distributed Clock EtherCAT functions. More...

#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/ethercatdc.h>

Include dependency graph for ethercatdc.c:

Go to the source code of this file.

Defines
#define	PORTM0   0x01
#define	PORTM1   0x02
#define	PORTM2   0x04
#define	PORTM3   0x08
#define	SyncDelay   ((int32)100000000)
Functions
boolean	ec_configdc (void)
void	ec_dcsync0 (uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift)
void	ec_dcsync01 (uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift)
uint8	ec_parentport (uint16 parent)
int32	ec_porttime (uint16 slave, uint8 port)
uint8	ec_prevport (uint16 slave, uint8 port)

---

Detailed Description

Distributed Clock EtherCAT functions.

Definition in file ethercatdc.c.

---

Define Documentation

#define PORTM0   0x01

Definition at line 52 of file ethercatdc.c.

#define PORTM1   0x02

Definition at line 53 of file ethercatdc.c.

#define PORTM2   0x04

Definition at line 54 of file ethercatdc.c.

#define PORTM3   0x08

Definition at line 55 of file ethercatdc.c.

#define SyncDelay   ((int32)100000000)

1st sync pulse delay in ns here 100ms

Definition at line 58 of file ethercatdc.c.

---

Function Documentation

boolean ec_configdc

(

void

)

Locate DC slaves, measure propagation delays.

return boolean if slaves are found with DC

Definition at line 266 of file ethercatdc.c.

void ec_dcsync0	(	uint16	slave,
		boolean	act,
		uint32	CyclTime,
		uint32	CyclShift
	)

Set DC of slave to fire sync0 at CyclTime interval with CyclShift offset.

Parameters:

[in]	slave	Slave number.
[in]	act	TRUE = active, FALSE = deactivated
[in]	CyclTime	Cycltime in ns.
[in]	CyclShift	CyclShift in ns.

Definition at line 68 of file ethercatdc.c.

void ec_dcsync01	(	uint16	slave,
		boolean	act,
		uint32	CyclTime0,
		uint32	CyclTime1,
		uint32	CyclShift
	)

Set DC of slave to fire sync0 and sync1 at CyclTime interval with CyclShift offset.

Parameters:

[in]	slave	Slave number.
[in]	act	TRUE = active, FALSE = deactivated
[in]	CyclTime0	Cycltime SYNC0 in ns.
[in]	CyclTime1	Cycltime SYNC1 in ns. This time is a delta time in relation to the SYNC0 fire. If CylcTime1 = 0 then SYNC1 fires a the same time as SYNC0.
[in]	CyclShift	CyclShift in ns.

Definition at line 120 of file ethercatdc.c.

uint8 ec_parentport

(

uint16

parent

)

Definition at line 231 of file ethercatdc.c.

int32 ec_porttime	(	uint16	slave,
		uint8	port
	)

Definition at line 164 of file ethercatdc.c.

uint8 ec_prevport	(	uint16	slave,
		uint8	port
	)

Definition at line 188 of file ethercatdc.c.