ethercatconfig.h File Reference

Headerfile for ethercatconfig.c. More...

Macros
#define	EC_NODEOFFSET   0x1000
#define	EC_TEMPNODE   0xffff

Functions
int	ecx_config_init (ecx_contextt *context, uint8 usetable)
int	ecx_config_map_group (ecx_contextt *context, void *pIOmap, uint8 group)
int	ecx_config_overlap_map_group (ecx_contextt *context, void *pIOmap, uint8 group)
int	ecx_recover_slave (ecx_contextt *context, uint16 slave, int timeout)
int	ecx_reconfig_slave (ecx_contextt *context, uint16 slave, int timeout)

Detailed Description

Headerfile for ethercatconfig.c.

Macro Definition Documentation

EC_NODEOFFSET

#define EC_NODEOFFSET   0x1000

EC_TEMPNODE

#define EC_TEMPNODE   0xffff

Function Documentation

ecx_config_init()

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

ecx_config_map_group()

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

Map all PDOs in one group of slaves to IOmap with Outputs/Inputs in sequential order (legacy SOEM way).

Parameters

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

Returns

IOmap size

ecx_config_overlap_map_group()

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

Map all PDOs in one group of slaves to IOmap with Outputs/Inputs overlapping. NOTE: Must use this for TI ESC when using LRW.

Parameters

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

Returns

IOmap size

ecx_reconfig_slave()

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

ecx_recover_slave()

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