Public Member Functions | Protected Attributes
EtherCAT_SlaveConfig Class Reference

Configuration of EtherCAT Slave. More...

#include <ethercat_slave_conf.h>

Inheritance diagram for EtherCAT_SlaveConfig:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 EtherCAT_SlaveConfig (uint32_t a_product_code, uint32_t a_revision, EC_FixedStationAddress a_station_address, EtherCAT_FMMU_Config *a_fmmu_config, EtherCAT_PD_Config *a_pd_config, EtherCAT_MbxConfig *a_mbx_config=NULL)
 Constructor.
const EtherCAT_FMMU_Configget_fmmu_config () const
 Get FMMU config to be written when going to preop.
const EtherCAT_MbxConfigget_mbx_config () const
 Get configuration of Sync Man channel 0 and 1 for MBX.
const EtherCAT_PD_Configget_pd_config () const
 Get PD Configuration (SMS)
uint32_t get_product_code () const
 Get product code.
uint32_t get_revision () const
 Get revision.
EC_FixedStationAddress get_station_address () const
 Get station address.
bool is_complex (void) const
 Is this a complex slave?
bool is_used ()
 Check if the SlaveConfig is already used.
void set_fmmu_config (EtherCAT_FMMU_Config *new_config)
void set_mbx_config (EtherCAT_MbxConfig *new_config)
void set_pd_config (EtherCAT_PD_Config *new_config)
void set_used ()
 The SlaveConfig is now used.

Protected Attributes

bool m_complex
EtherCAT_FMMU_Configm_fmmu_config
 FMMU config to be written when going to preop.
EtherCAT_MbxConfigm_mbx_config
 Configuration of Sync Man channel 0 and 1 for MBX.
EtherCAT_PD_Configm_pd_config
 PD Configuration (SMS)
uint32_t m_product_code
 Product code.
uint32_t m_revision
 Revision.
EC_FixedStationAddress m_station_address
 Station address.
bool used

Detailed Description

Configuration of EtherCAT Slave.

Todo:
Build this class by parsing (xml-)configuration file

Definition at line 136 of file ethercat_slave_conf.h.


Constructor & Destructor Documentation

EtherCAT_SlaveConfig::EtherCAT_SlaveConfig ( uint32_t  a_product_code,
uint32_t  a_revision,
EC_FixedStationAddress  a_station_address,
EtherCAT_FMMU_Config a_fmmu_config,
EtherCAT_PD_Config a_pd_config,
EtherCAT_MbxConfig a_mbx_config = NULL 
)

Constructor.

Parameters:
a_product_codeproduct code of the slave
a_revisionrevision of the slave
a_station_addressaddress of the station as given in config file
a_fmmu_configpointer to configuration of fmmus as created when parsing config file
a_pd_configpointer to configuration of SM for process data
a_mbx_configMBX configuration if this slave is complex. Default argument is NULL for simple slaves
Note:
CanOpen stuff for complex slaves such as the PDO Mapping, the Sync Manager PDO assign objects and the startup objects are not implemented (yet) See p. 106 and 162 of spec. EtherCAT_PDO_Mapping m_pdo_mapping; EtherCAT_SM_PDO_Assign m_sm_pdo_assign; EtherCAT_Startup_Objects m_startup_objects;

Member Function Documentation

Get FMMU config to be written when going to preop.

Definition at line 188 of file ethercat_slave_conf.h.

Get configuration of Sync Man channel 0 and 1 for MBX.

Returns:
pointer to config in case of complex slave, or NULL for a simple slave

Definition at line 209 of file ethercat_slave_conf.h.

Get PD Configuration (SMS)

Definition at line 197 of file ethercat_slave_conf.h.

uint32_t EtherCAT_SlaveConfig::get_product_code ( ) const [inline]

Get product code.

Definition at line 173 of file ethercat_slave_conf.h.

uint32_t EtherCAT_SlaveConfig::get_revision ( ) const [inline]

Get revision.

Definition at line 178 of file ethercat_slave_conf.h.

Get station address.

Definition at line 183 of file ethercat_slave_conf.h.

bool EtherCAT_SlaveConfig::is_complex ( void  ) const [inline]

Is this a complex slave?

Definition at line 167 of file ethercat_slave_conf.h.

bool EtherCAT_SlaveConfig::is_used ( ) [inline]

Check if the SlaveConfig is already used.

Definition at line 215 of file ethercat_slave_conf.h.

Definition at line 192 of file ethercat_slave_conf.h.

Definition at line 201 of file ethercat_slave_conf.h.

void EtherCAT_SlaveConfig::set_used ( ) [inline]

The SlaveConfig is now used.

Definition at line 220 of file ethercat_slave_conf.h.


Member Data Documentation

Definition at line 239 of file ethercat_slave_conf.h.

FMMU config to be written when going to preop.

Definition at line 233 of file ethercat_slave_conf.h.

Configuration of Sync Man channel 0 and 1 for MBX.

Position in the EtherCAT logical Ring

Definition at line 237 of file ethercat_slave_conf.h.

PD Configuration (SMS)

Definition at line 235 of file ethercat_slave_conf.h.

Product code.

Definition at line 227 of file ethercat_slave_conf.h.

uint32_t EtherCAT_SlaveConfig::m_revision [protected]

Revision.

Definition at line 229 of file ethercat_slave_conf.h.

Station address.

Definition at line 231 of file ethercat_slave_conf.h.

bool EtherCAT_SlaveConfig::used [protected]

Definition at line 240 of file ethercat_slave_conf.h.


The documentation for this class was generated from the following file:


ros_ethercat_eml
Author(s): Tom Panis, Klaas Gadeyne, Bob Koninckx, Austin Hendrix, Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:07