ethercat_slave_memory.h File Reference

#include "ros_ethercat_eml/ethercat_defs.h"
#include "ros_ethercat_eml/ethercat_log.h"
#include "ros_ethercat_eml/ethercat_datastruct.h"
#include <stdio.h>
#include <cassert>

Include dependency graph for ethercat_slave_memory.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	EC_ALControl
	AL Control register. More...
class	EC_ALStatus
	AL Status register. More...
class	EC_BitPos
	Class representing a bit position within a byte. More...
class	EC_BufferedState
	Class representing buffered state of a SyncMan. More...
class	EC_BufferType
	Class representing queued or buffered Syncman buffertypes. More...
class	EC_Direction
	Class representing read/write direction of Syncman buffer. More...
class	EC_DLInformation
	EtherCAT Data Layer Information. More...
class	EC_FixedStationAddress
	EtherCAT Fixed Station Address. More...
class	EC_FMMU
	EtherCAT FMMU. More...
class	EC_SIIControlStatus
	Slave Information Interface Control/Status. More...
class	EC_SyncMan
	EtherCAT Sync Manager. More...
struct	ECAT_Slave_Register_Data
	EtherCAT Slave Register data. More...
Enumerations
enum	EC_State {   EC_INIT_STATE = 0x01, EC_PREOP_STATE = 0x02, EC_BOOTSTRAP_STATE = 0x03, EC_SAFEOP_STATE = 0x04,   EC_OP_STATE = 0x08 }
enum	ECAT_Register_Access { EC_R = 0, EC_W = 1, EC_RW = 2 }
enum	ECAT_Slave_Registers {   Type = 0, Revision, Build, Num_FMMUs,   Num_Sync_Managers, RAM_Size, ECAT_Station_Address, DLL_Control,   DLL_Status, AL_Control, AL_Status, PDI_Control,   PDI_Conf_reg, AL_Event, RX_Error_Counter_Channel_A, RX_Error_Counter_Channel_B,   Watchdog_Divider, Watchdog_Time_PDI, Watchdog_Time_Channel_0, Watchdog_Time_Channel_1,   Watchdog_Time_Channel_2, Watchdog_Time_Channel_3, Watchdog_Time_Channel_4, Watchdog_Time_Channel_5,   Watchdog_Time_Channel_6, Watchdog_Time_Channel_7, Watchdog_Time_Channel_8, Watchdog_Time_Channel_9,   Watchdog_Time_Channel_10, Watchdog_Time_Channel_11, Watchdog_Time_Channel_12, Watchdog_Time_Channel_13,   Watchdog_Time_Channel_14, Watchdog_Time_Channel_15, Watchdog_Channel_status, SII_Size,   SII_ControlStatus, SII_Address, SII_Data, FMMU_0,   FMMU_1, FMMU_2, FMMU_3, FMMU_4,   FMMU_5, FMMU_6, FMMU_7, FMMU_8,   FMMU_9, FMMU_10, FMMU_11, FMMU_12,   FMMU_13, FMMU_14, FMMU_15, Sync_Manager_0,   Sync_Manager_1, Sync_Manager_2, Sync_Manager_3, Sync_Manager_4,   Sync_Manager_5, Sync_Manager_6, Sync_Manager_7, Sync_Manager_8,   Sync_Manager_9, Sync_Manager_10, Sync_Manager_11, Sync_Manager_12,   Sync_Manager_13, Sync_Manager_14, Sync_Manager_15, NumRegisters }
enum	ECBufferedState { EC_FIRST_BUFFER = 0x00, EC_SECOND_BUFFER = 0x01, EC_THIRD_BUFFER = 0x02, EC_LOCKED_BUFFER = 0x03 }
enum	ECBufferType { EC_BUFFERED = 0x00, EC_QUEUED = 0x02 }
enum	ECDirection { EC_READ_FROM_MASTER = 0x00, EC_WRITTEN_FROM_MASTER = 0x01 }
Functions
static int	FMMUx (int channel)
static int	Sync_Managerx (int channel)
static int	Watchdog_Time_Channelx (int channel)
Variables
static const size_t	EC_DLInformationSize = 0xa
static const uint32_t	EC_ProductCodeAddressInSII = 0x0000000a
static const bool	EC_QUEUED_STATE_READ = false
static const bool	EC_QUEUED_STATE_WRITTEN = true
static const uint32_t	EC_RevisionAddressInSII = 0x0000000c
static const uint32_t	EC_SerialAddressInSII = 0x0000000e
static const ECAT_Slave_Register_Data	EC_Slave_RD [NumRegisters]

---

Enumeration Type Documentation

enum EC_State

Enumerator:

EC_INIT_STATE
EC_PREOP_STATE
EC_BOOTSTRAP_STATE
EC_SAFEOP_STATE
EC_OP_STATE

Definition at line 461 of file ethercat_slave_memory.h.

enum ECAT_Register_Access

Enumerator:

EC_R
EC_W
EC_RW

Definition at line 129 of file ethercat_slave_memory.h.

enum ECAT_Slave_Registers

Enumerator:

Type
Revision
Build
Num_FMMUs
Num_Sync_Managers
RAM_Size
ECAT_Station_Address
DLL_Control
DLL_Status
AL_Control
AL_Status
PDI_Control
PDI_Conf_reg
AL_Event
RX_Error_Counter_Channel_A
RX_Error_Counter_Channel_B
Watchdog_Divider
Watchdog_Time_PDI
Watchdog_Time_Channel_0
Watchdog_Time_Channel_1
Watchdog_Time_Channel_2
Watchdog_Time_Channel_3
Watchdog_Time_Channel_4
Watchdog_Time_Channel_5
Watchdog_Time_Channel_6
Watchdog_Time_Channel_7
Watchdog_Time_Channel_8
Watchdog_Time_Channel_9
Watchdog_Time_Channel_10
Watchdog_Time_Channel_11
Watchdog_Time_Channel_12
Watchdog_Time_Channel_13
Watchdog_Time_Channel_14
Watchdog_Time_Channel_15
Watchdog_Channel_status
SII_Size
SII_ControlStatus
SII_Address
SII_Data
FMMU_0
FMMU_1
FMMU_2
FMMU_3
FMMU_4
FMMU_5
FMMU_6
FMMU_7
FMMU_8
FMMU_9
FMMU_10
FMMU_11
FMMU_12
FMMU_13
FMMU_14
FMMU_15
Sync_Manager_0
Sync_Manager_1
Sync_Manager_2
Sync_Manager_3
Sync_Manager_4
Sync_Manager_5
Sync_Manager_6
Sync_Manager_7
Sync_Manager_8
Sync_Manager_9
Sync_Manager_10
Sync_Manager_11
Sync_Manager_12
Sync_Manager_13
Sync_Manager_14
Sync_Manager_15
NumRegisters

Definition at line 53 of file ethercat_slave_memory.h.

enum ECBufferedState

Enumerator:

EC_FIRST_BUFFER
EC_SECOND_BUFFER
EC_THIRD_BUFFER
EC_LOCKED_BUFFER

Definition at line 678 of file ethercat_slave_memory.h.

enum ECBufferType

Enumerator:

EC_BUFFERED
EC_QUEUED

Definition at line 616 of file ethercat_slave_memory.h.

enum ECDirection

Enumerator:

EC_READ_FROM_MASTER
EC_WRITTEN_FROM_MASTER

Definition at line 646 of file ethercat_slave_memory.h.

---

Function Documentation

static int FMMUx

(

int

channel

)

[inline, static]

Definition at line 225 of file ethercat_slave_memory.h.

static int Sync_Managerx

(

int

channel

)

[inline, static]

Definition at line 282 of file ethercat_slave_memory.h.

static int Watchdog_Time_Channelx

(

int

channel

)

[inline, static]

Definition at line 339 of file ethercat_slave_memory.h.

---

Variable Documentation

const size_t EC_DLInformationSize = 0xa [static]

Definition at line 43 of file ethercat_slave_memory.h.

const uint32_t EC_ProductCodeAddressInSII = 0x0000000a [static]

Definition at line 49 of file ethercat_slave_memory.h.

const bool EC_QUEUED_STATE_READ = false [static]

Definition at line 714 of file ethercat_slave_memory.h.

const bool EC_QUEUED_STATE_WRITTEN = true [static]

Definition at line 715 of file ethercat_slave_memory.h.

const uint32_t EC_RevisionAddressInSII = 0x0000000c [static]

Definition at line 50 of file ethercat_slave_memory.h.

const uint32_t EC_SerialAddressInSII = 0x0000000e [static]

Definition at line 51 of file ethercat_slave_memory.h.

const ECAT_Slave_Register_Data EC_Slave_RD[NumRegisters] [static]

Definition at line 152 of file ethercat_slave_memory.h.