EtherCAT_AL Class Reference

EtherCAT Master Application Layer. More...

#include <ethercat_AL.h>

List of all members.

Public Member Functions
	EtherCAT_AL (EtherCAT_DataLinkLayer *m_dll_instance, EC_Logic *m_logic_instance, EtherCAT_PD_Buffer *_pd_buffer_)
unsigned int	get_num_slaves ()
	Get the number of slaves.
EtherCAT_SlaveHandler *	get_slave_handler (EC_FixedStationAddress station_address)
	Get pointer to slaveHandler.
EtherCAT_SlaveHandler **	get_slaves ()
	Get an array of pointers to slaves.
bool	isReady ()
	Check the AL is ready (init was successful)
	~EtherCAT_AL ()
Public Attributes
EtherCAT_DataLinkLayer *	m_dll_instance
	DLL Instance.
Protected Member Functions
bool	init (void)
	Init of EtherCAT network.
bool	put_slaves_in_init (void)
	Put all slaves in their init state.
bool	reset_slaves (void)
	Reset slaves.
bool	scan_slaves (void)
	Scan the slave network, create the necessary slave Handlers.
Private Member Functions
bool	read_SII (uint16_t slave_adp, uint32_t address, unsigned char *a_buffer)
	Get information from the SII (in Autoincrement mode)
Private Attributes
EC_Logic *	m_logic_instance
	Using commonly idx.
unsigned int	m_num_slaves
	Number of slaves in the setup.
bool	m_ready
	Set is init is successful.
EtherCAT_SlaveHandler **	m_slave_handler
	Pointer to the slave Handlers.
EtherCAT_PD_Buffer *	pd_buffer_
Friends
class	EtherCAT_Router

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Detailed Description

EtherCAT Master Application Layer.

Definition at line 94 of file ethercat_AL.h.

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Constructor & Destructor Documentation

EtherCAT_AL::EtherCAT_AL	(	EtherCAT_DataLinkLayer *	m_dll_instance,
		EC_Logic *	m_logic_instance,
		EtherCAT_PD_Buffer *	_pd_buffer_
	)

EtherCAT_AL::~EtherCAT_AL

(

)

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Member Function Documentation

unsigned int EtherCAT_AL::get_num_slaves

(

)

[inline]

Get the number of slaves.

Returns:

the number of slaves

Definition at line 113 of file ethercat_AL.h.

EtherCAT_SlaveHandler* EtherCAT_AL::get_slave_handler

(

EC_FixedStationAddress

station_address

)

Get pointer to slaveHandler.

Returns:

pointer to the slaveHandler if it exist, or NULL otherwise

Todo:

As implemented right now, this is an O(N) operation. Try to use some kind of mapping/hash table...

EtherCAT_SlaveHandler** EtherCAT_AL::get_slaves

(

)

[inline]

Get an array of pointers to slaves.

Returns:

array of pointers to slaves

Definition at line 121 of file ethercat_AL.h.

bool EtherCAT_AL::init

(

void

)

[protected]

Init of EtherCAT network.

Counts and identifies the number of slaves in the network, and resets the slaves configuration.

Returns:

true if success

bool EtherCAT_AL::isReady

(

)

Check the AL is ready (init was successful)

Returns:

true if ready

bool EtherCAT_AL::put_slaves_in_init

(

void

)

[protected]

Put all slaves in their init state.

Returns:

true if success

bool EtherCAT_AL::read_SII	(	uint16_t	slave_adp,
		uint32_t	address,
		unsigned char *	a_buffer
	)		[private]

Get information from the SII (in Autoincrement mode)

Parameters:

slave_adp	address pointer of the slave to read in autoincrement mode
address	address of the EEPROM that should be read
a_buffer	buffer to put the data in

Returns:

reading succeeded?

bool EtherCAT_AL::reset_slaves

(

void

)

[protected]

Reset slaves.

Returns:

true if success

bool EtherCAT_AL::scan_slaves

(

void

)

[protected]

Scan the slave network, create the necessary slave Handlers.

Returns:

true if success

Todo:

if 2 slaves have the same product code and revision, they will get the same address!!

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Friends And Related Function Documentation

friend class EtherCAT_Router [friend]

Definition at line 96 of file ethercat_AL.h.

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Member Data Documentation

EtherCAT_DataLinkLayer* EtherCAT_AL::m_dll_instance

DLL Instance.

Definition at line 133 of file ethercat_AL.h.

EC_Logic* EtherCAT_AL::m_logic_instance [private]

Using commonly idx.

Definition at line 162 of file ethercat_AL.h.

unsigned int EtherCAT_AL::m_num_slaves [private]

Number of slaves in the setup.

Definition at line 179 of file ethercat_AL.h.

bool EtherCAT_AL::m_ready [private]

Set is init is successful.

Definition at line 182 of file ethercat_AL.h.

EtherCAT_SlaveHandler** EtherCAT_AL::m_slave_handler [private]

Pointer to the slave Handlers.

Definition at line 165 of file ethercat_AL.h.

EtherCAT_PD_Buffer* EtherCAT_AL::pd_buffer_ [private]

Definition at line 167 of file ethercat_AL.h.

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

• ethercat_AL.h