EtherCAT_SlaveConfig Class Reference

Configuration of EtherCAT Slave. More...

#include <ethercat_slave_conf.h>

Inheritance diagram for EtherCAT_SlaveConfig:

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_Config *	get_fmmu_config () const
	Get FMMU config to be written when going to preop.
const EtherCAT_MbxConfig *	get_mbx_config () const
	Get configuration of Sync Man channel 0 and 1 for MBX.
const EtherCAT_PD_Config *	get_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_Config *	m_fmmu_config
	FMMU config to be written when going to preop.
EtherCAT_MbxConfig *	m_mbx_config
	Configuration of Sync Man channel 0 and 1 for MBX.
EtherCAT_PD_Config *	m_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.

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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_code	product code of the slave
a_revision	revision of the slave
a_station_address	address of the station as given in config file
a_fmmu_config	pointer to configuration of fmmus as created when parsing config file
a_pd_config	pointer to configuration of SM for process data
a_mbx_config	MBX 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;

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Member Function Documentation

const EtherCAT_FMMU_Config* EtherCAT_SlaveConfig::get_fmmu_config

(

)

const [inline]

Get FMMU config to be written when going to preop.

Definition at line 188 of file ethercat_slave_conf.h.

const EtherCAT_MbxConfig* EtherCAT_SlaveConfig::get_mbx_config

(

)

const [inline]

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.

const EtherCAT_PD_Config* EtherCAT_SlaveConfig::get_pd_config

(

)

const [inline]

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.

EC_FixedStationAddress EtherCAT_SlaveConfig::get_station_address

(

)

const [inline]

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.

void EtherCAT_SlaveConfig::set_fmmu_config

(

EtherCAT_FMMU_Config *

new_config

)

[inline]

Definition at line 192 of file ethercat_slave_conf.h.

void EtherCAT_SlaveConfig::set_mbx_config

(

EtherCAT_MbxConfig *

new_config

)

void EtherCAT_SlaveConfig::set_pd_config

(

EtherCAT_PD_Config *

new_config

)

[inline]

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.

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Member Data Documentation

bool EtherCAT_SlaveConfig::m_complex [protected]

Definition at line 239 of file ethercat_slave_conf.h.

EtherCAT_FMMU_Config* EtherCAT_SlaveConfig::m_fmmu_config [protected]

FMMU config to be written when going to preop.

Definition at line 233 of file ethercat_slave_conf.h.

EtherCAT_MbxConfig* EtherCAT_SlaveConfig::m_mbx_config [protected]

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.

EtherCAT_PD_Config* EtherCAT_SlaveConfig::m_pd_config [protected]

PD Configuration (SMS)

Definition at line 235 of file ethercat_slave_conf.h.

uint32_t EtherCAT_SlaveConfig::m_product_code [protected]

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.

EC_FixedStationAddress EtherCAT_SlaveConfig::m_station_address [protected]

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.

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

• ethercat_slave_conf.h