main.c File Reference

Example code for Simple Open EtherCAT master. More...

#include <kern.h>
#include "ethercat.h"
#include "string.h"
#include <oshw.h>
#include <config.h>
#include <defBF537.h>
#include <lwip/inet.h>

Include dependency graph for main.c:

Go to the source code of this file.

Classes
struct	in_EL1008_t
struct	in_EL3061_t
struct	out_EL2622_t
struct	out_EL4001_t

Macros
#define	ABS(x)   ((x) < 0 ? -(x) : (x))
#define	EK1100_1   1
#define	EL1008_1   4
#define	EL1008_2   5
#define	EL2622_1   6
#define	EL2622_2   7
#define	EL2622_3   8
#define	EL2622_4   9
#define	EL3061_1   3
#define	EL4001_1   2
#define	NUMBER_OF_SLAVES   9
#define	pPORTFIO_CLEAR   ((vuint16_t *)PORTFIO_CLEAR)
#define	pPORTFIO_DIR   ((vuint16_t *)PORTFIO_DIR)
#define	pPORTFIO_SET   ((vuint16_t *)PORTFIO_SET)
#define	USECS_PER_SEC   1000000
#define	USECS_PER_TICK   (USECS_PER_SEC / CFG_TICKS_PER_SECOND)

Functions
uint8	get_input_bit (uint16 slave_no, uint8 module_index)
int32	get_input_int32 (uint16 slave_no, uint8 module_index)
uint8	get_output_bit (uint16 slave_no, uint8 module_index)
int16	get_output_int16 (uint16 slave_no, uint8 module_index)
int	main (void)
static void	my_cyclic_callback (void *arg)
uint32	network_configuration (void)
void	read_io (void *arg)
void	set_input_int32 (uint16 slave_no, uint8 module_index, int32 value)
void	set_output_bit (uint16 slave_no, uint8 module_index, uint8 value)
void	set_output_int16 (uint16 slave_no, uint8 module_index, int16 value)
void	simpletest (void *arg)
static void	test_osal_current_time (void)
static void	test_osal_current_time_for_delay_us (const int32 sleep_time_us)
static void	test_osal_timer (void)
static void	test_osal_timer_timeout_us (const uint32 timeout_us)
static void	test_oshw_htons (void)
static void	test_oshw_ntohs (void)
static int32	time_difference_us (const ec_timet stop, const ec_timet start)
void	tt_error (uint32_t task_ix)

Variables
int	dorun = 0
uint32_t	error_counter = 0
char	IOmap [128]
uint8_t	load10s
uint8_t	load1s
uint8_t	load5s
in_EL1008_t	slave_EL1008_1
in_EL1008_t	slave_EL1008_2
out_EL2622_t	slave_EL2622_1
out_EL2622_t	slave_EL2622_2
out_EL2622_t	slave_EL2622_3
in_EL3061_t	slave_EL3061_1
out_EL4001_t	slave_EL4001_1
tt_sched_t *	tt_sched []

Detailed Description

Example code for Simple Open EtherCAT master.

This is a minimal example running rt-kernel TTOS. Check tutorial files in documentations for som steps to get your system running. (c)Andreas Karlsson 2012

Definition in file main.c.

Macro Definition Documentation

ABS

#define ABS

(

x

)

((x) < 0 ? -(x) : (x))

Definition at line 428 of file main.c.

EK1100_1

#define EK1100_1   1

Definition at line 22 of file main.c.

EL1008_1

#define EL1008_1   4

Definition at line 25 of file main.c.

EL1008_2

#define EL1008_2   5

Definition at line 26 of file main.c.

EL2622_1

#define EL2622_1   6

Definition at line 27 of file main.c.

EL2622_2

#define EL2622_2   7

Definition at line 28 of file main.c.

EL2622_3

#define EL2622_3   8

Definition at line 29 of file main.c.

EL2622_4

#define EL2622_4   9

Definition at line 30 of file main.c.

EL3061_1

#define EL3061_1   3

Definition at line 24 of file main.c.

EL4001_1

#define EL4001_1   2

Definition at line 23 of file main.c.

NUMBER_OF_SLAVES

#define NUMBER_OF_SLAVES   9

Definition at line 31 of file main.c.

pPORTFIO_CLEAR

#define pPORTFIO_CLEAR   ((vuint16_t *)PORTFIO_CLEAR)

Definition at line 19 of file main.c.

pPORTFIO_DIR

#define pPORTFIO_DIR   ((vuint16_t *)PORTFIO_DIR)

Definition at line 20 of file main.c.

pPORTFIO_SET

#define pPORTFIO_SET   ((vuint16_t *)PORTFIO_SET)

Definition at line 18 of file main.c.

USECS_PER_SEC

#define USECS_PER_SEC   1000000

Definition at line 425 of file main.c.

USECS_PER_TICK

#define USECS_PER_TICK   (USECS_PER_SEC / CFG_TICKS_PER_SECOND)

Definition at line 426 of file main.c.

Function Documentation

get_input_bit()

uint8 get_input_bit	(	uint16	slave_no,
		uint8	module_index
	)

Definition at line 134 of file main.c.

get_input_int32()

int32 get_input_int32	(	uint16	slave_no,
		uint8	module_index
	)

Definition at line 99 of file main.c.

get_output_bit()

uint8 get_output_bit	(	uint16	slave_no,
		uint8	module_index
	)

Definition at line 177 of file main.c.

get_output_int16()

int16 get_output_int16	(	uint16	slave_no,
		uint8	module_index
	)

Definition at line 145 of file main.c.

main()

int main

(

void

)

Definition at line 505 of file main.c.

my_cyclic_callback()

static void my_cyclic_callback ( void *  arg )

static

Definition at line 214 of file main.c.

network_configuration()

uint32 network_configuration

(

void

)

Definition at line 70 of file main.c.

read_io()

void read_io

(

void *

arg

)

Definition at line 226 of file main.c.

set_input_int32()

void set_input_int32	(	uint16	slave_no,
		uint8	module_index,
		int32	value
	)

Definition at line 118 of file main.c.

set_output_bit()

void set_output_bit	(	uint16	slave_no,
		uint8	module_index,
		uint8	value
	)

Definition at line 188 of file main.c.

set_output_int16()

void set_output_int16	(	uint16	slave_no,
		uint8	module_index,
		int16	value
	)

Definition at line 163 of file main.c.

simpletest()

void simpletest

(

void *

arg

)

Definition at line 243 of file main.c.

test_osal_current_time()

static void test_osal_current_time ( void  )

static

Definition at line 471 of file main.c.

test_osal_current_time_for_delay_us()

static void test_osal_current_time_for_delay_us ( const int32  sleep_time_us )

static

Test osal_current_time() by using it for measuring how long an osal_usleep() takes, in specified number of microseconds.

Definition at line 452 of file main.c.

test_osal_timer()

static void test_osal_timer ( void  )

static

Definition at line 417 of file main.c.

test_osal_timer_timeout_us()

static void test_osal_timer_timeout_us ( const uint32  timeout_us )

static

Definition at line 403 of file main.c.

test_oshw_htons()

static void test_oshw_htons ( void  )

static

Definition at line 485 of file main.c.

test_oshw_ntohs()

static void test_oshw_ntohs ( void  )

static

Definition at line 495 of file main.c.

time_difference_us()

static int32 time_difference_us ( const ec_timet  stop, const ec_timet  start  )

static

Definition at line 431 of file main.c.

tt_error()

void tt_error

(

uint32_t

task_ix

)

Definition at line 209 of file main.c.

Variable Documentation

dorun

int dorun = 0

Definition at line 203 of file main.c.

error_counter

uint32_t error_counter = 0

Definition at line 206 of file main.c.

IOmap

char IOmap[128]

Definition at line 202 of file main.c.

load10s

uint8_t load10s

Definition at line 205 of file main.c.

load1s

uint8_t load1s

Definition at line 205 of file main.c.

load5s

uint8_t load5s

Definition at line 205 of file main.c.

slave_EL1008_1

in_EL1008_t slave_EL1008_1

Definition at line 64 of file main.c.

slave_EL1008_2

in_EL1008_t slave_EL1008_2

Definition at line 65 of file main.c.

slave_EL2622_1

out_EL2622_t slave_EL2622_1

Definition at line 66 of file main.c.

slave_EL2622_2

out_EL2622_t slave_EL2622_2

Definition at line 67 of file main.c.

slave_EL2622_3

out_EL2622_t slave_EL2622_3

Definition at line 68 of file main.c.

slave_EL3061_1

in_EL3061_t slave_EL3061_1

Definition at line 63 of file main.c.

slave_EL4001_1

out_EL4001_t slave_EL4001_1

Definition at line 62 of file main.c.

tt_sched

tt_sched_t* tt_sched[]