ethercatconfig.c File Reference

Configuration module for EtherCAT master. More...

#include <stdio.h>
#include <string.h>
#include "ethercat_soem/osal.h"
#include "ethercat_soem/oshw.h"
#include "ethercat_soem/ethercattype.h"
#include "ethercat_soem/ethercatbase.h"
#include "ethercat_soem/ethercatmain.h"
#include "ethercat_soem/ethercatcoe.h"
#include "ethercat_soem/ethercatsoe.h"
#include "ethercat_soem/ethercatconfig.h"

Include dependency graph for ethercatconfig.c:

Go to the source code of this file.

Defines
#define	EC_DEFAULTDOSM0   0x00010044
#define	EC_DEFAULTMBXSM0   0x00010026
#define	EC_DEFAULTMBXSM1   0x00010022
#define	EC_PRINT(...)   do {} while (0)
Functions
int	ecx_config_init (ecx_contextt *context, uint8 usetable)
int	ecx_config_map_group (ecx_contextt *context, void *pIOmap, uint8 group)
int	ecx_reconfig_slave (ecx_contextt *context, uint16 slave, int timeout)
int	ecx_recover_slave (ecx_contextt *context, uint16 slave, int timeout)

---

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 107 of file ethercatconfig.c.

#define EC_DEFAULTMBXSM0   0x00010026

standard SM0 flags configuration for mailbox slaves

Definition at line 103 of file ethercatconfig.c.

#define EC_DEFAULTMBXSM1   0x00010022

standard SM1 flags configuration for mailbox slaves

Definition at line 105 of file ethercatconfig.c.

#define EC_PRINT

(

...

)

do {} while (0)

Definition at line 66 of file ethercatconfig.c.

---

Function Documentation

int ecx_config_init	(	ecx_contextt *	context,
		uint8	usetable
	)

Enumerate and init all slaves.

Parameters:

[in]	context	= context struct
[in]	usetable	= TRUE when using configtable to init slaves, FALSE otherwise

Returns:

Workcounter of slave discover datagram = number of slaves found

Definition at line 139 of file ethercatconfig.c.

int ecx_config_map_group	(	ecx_contextt *	context,
		void *	pIOmap,
		uint8	group
	)

Map all PDOs in one group of slaves to IOmap.

Parameters:

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

Returns:

IOmap size

Definition at line 533 of file ethercatconfig.c.

int ecx_reconfig_slave	(	ecx_contextt *	context,
		uint16	slave,
		int	timeout
	)

Reconfigure slave.

Parameters:

[in]	context	= context struct
[in]	slave	= slave to reconfigure
[in]	timeout	= local timeout f.e. EC_TIMEOUTRET3

Returns:

Slave state

Definition at line 1079 of file ethercatconfig.c.

int ecx_recover_slave	(	ecx_contextt *	context,
		uint16	slave,
		int	timeout
	)

Recover slave.

Parameters:

[in]	context	= context struct
[in]	slave	= slave to recover
[in]	timeout	= local timeout f.e. EC_TIMEOUTRET3

Returns:

>0 if successful

Definition at line 1017 of file ethercatconfig.c.