ethercatdc.c File Reference

Distributed Clock EtherCAT functions. More...

#include "ethercat_soem/oshw.h"
#include "ethercat_soem/osal.h"
#include "ethercat_soem/ethercattype.h"
#include "ethercat_soem/ethercatbase.h"
#include "ethercat_soem/ethercatmain.h"
#include "ethercat_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	ecx_configdc (ecx_contextt *context)
void	ecx_dcsync0 (ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift)
void	ecx_dcsync01 (ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift)
static uint8	ecx_parentport (ecx_contextt *context, uint16 parent)
static int32	ecx_porttime (ecx_contextt *context, uint16 slave, uint8 port)
static uint8	ecx_prevport (ecx_contextt *context, uint16 slave, uint8 port)

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Detailed Description

Distributed Clock EtherCAT functions.

Definition in file ethercatdc.c.

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Define Documentation

#define PORTM0   0x01

Definition at line 53 of file ethercatdc.c.

#define PORTM1   0x02

Definition at line 54 of file ethercatdc.c.

#define PORTM2   0x04

Definition at line 55 of file ethercatdc.c.

#define PORTM3   0x08

Definition at line 56 of file ethercatdc.c.

#define SyncDelay   ((int32)100000000)

1st sync pulse delay in ns here 100ms

Definition at line 59 of file ethercatdc.c.

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Function Documentation

boolean ecx_configdc

(

ecx_contextt *

context

)

Locate DC slaves, measure propagation delays.

Parameters:

[in]

context

= context struct

Returns:

boolean if slaves are found with DC

Definition at line 270 of file ethercatdc.c.

void ecx_dcsync0	(	ecx_contextt *	context,
		uint16	slave,
		boolean	act,
		uint32	CyclTime,
		uint32	CyclShift
	)

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

Parameters:

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

Definition at line 70 of file ethercatdc.c.

void ecx_dcsync01	(	ecx_contextt *	context,
		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]	context	= context struct
[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 123 of file ethercatdc.c.

static uint8 ecx_parentport	(	ecx_contextt *	context,
		uint16	parent
	)		[static]

Definition at line 234 of file ethercatdc.c.

static int32 ecx_porttime	(	ecx_contextt *	context,
		uint16	slave,
		uint8	port
	)		[static]

Definition at line 167 of file ethercatdc.c.

static uint8 ecx_prevport	(	ecx_contextt *	context,
		uint16	slave,
		uint8	port
	)		[static]

Definition at line 191 of file ethercatdc.c.