Configuration module for EtherCAT master. More...

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

Data Structures
struct	ecx_mapt_t

struct	ec_configlist_t

Macros
#define	EC_DEFAULTMBXSM0 0x00010026

#define	EC_DEFAULTMBXSM1 0x00010022

#define	EC_DEFAULTDOSM0 0x00010044

Functions
int	ec_findconfig (uint32 man, uint32 id)

void	ecx_init_context (ecx_contextt *context)

int	ecx_detect_slaves (ecx_contextt *context)

static void	ecx_set_slaves_to_default (ecx_contextt *context)

static int	ecx_config_from_table (ecx_contextt *context, uint16 slave)

static int	ecx_lookup_prev_sii (ecx_contextt *context, uint16 slave)

int	ecx_config_init (ecx_contextt *context, uint8 usetable)

static int	ecx_lookup_mapping (ecx_contextt context, uint16 slave, int Osize, int *Isize)

static int	ecx_map_coe_soe (ecx_contextt *context, uint16 slave, int thread_n)

static int	ecx_map_sii (ecx_contextt *context, uint16 slave)

static int	ecx_map_sm (ecx_contextt *context, uint16 slave)

static int	ecx_get_threadcount (void)

static void	ecx_config_find_mappings (ecx_contextt *context, uint8 group)

static void	ecx_config_create_input_mappings (ecx_contextt context, void pIOmap, uint8 group, int16 slave, uint32 LogAddr, uint8 BitPos)

static void	ecx_config_create_output_mappings (ecx_contextt context, void pIOmap, uint8 group, int16 slave, uint32 LogAddr, uint8 BitPos)

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)

int	ec_config_init (uint8 usetable)

int	ec_config_map_group (void *pIOmap, uint8 group)

int	ec_config_overlap_map_group (void *pIOmap, uint8 group)

int	ec_config_map (void *pIOmap)

int	ec_config_overlap_map (void *pIOmap)

int	ec_config (uint8 usetable, void *pIOmap)

int	ec_config_overlap (uint8 usetable, void *pIOmap)

int	ec_recover_slave (uint16 slave, int timeout)

int	ec_reconfig_slave (uint16 slave, int timeout)

Variables
ecx_mapt_t	ecx_mapt [EC_MAX_MAPT]

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.

Macro Definition Documentation

◆ EC_DEFAULTDOSM0

#define EC_DEFAULTDOSM0 0x00010044

standard SM0 flags configuration for digital output slaves

◆ EC_DEFAULTMBXSM0

#define EC_DEFAULTMBXSM0 0x00010026

standard SM0 flags configuration for mailbox slaves

◆ EC_DEFAULTMBXSM1

#define EC_DEFAULTMBXSM1 0x00010022

standard SM1 flags configuration for mailbox slaves

Function Documentation

◆ ec_config()

int ec_config	(	uint8	usetable,
		void *	pIOmap
	)

Enumerate / map and init all slaves.

Parameters

[in]	usetable	= TRUE when using configtable to init slaves, FALSE otherwise
[out]	pIOmap	= pointer to IOmap

Returns: Workcounter of slave discover datagram = number of slaves found

◆ ec_config_init()

int ec_config_init ( uint8 usetable )

Enumerate and init all slaves.

Parameters

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

Returns: Workcounter of slave discover datagram = number of slaves found

See also: ecx_config_init

◆ ec_config_map()

int ec_config_map ( void * pIOmap )

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

Parameters

[out] pIOmap = pointer to IOmap

Returns: IOmap size

◆ ec_config_map_group()

int ec_config_map_group	(	void *	pIOmap,
		uint8	group
	)

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

Parameters

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

Returns: IOmap size

See also: ecx_config_map_group

◆ ec_config_overlap()

int ec_config_overlap	(	uint8	usetable,
		void *	pIOmap
	)

Enumerate / map and init all slaves.

Parameters

[in]	usetable	= TRUE when using configtable to init slaves, FALSE otherwise
[out]	pIOmap	= pointer to IOmap

Returns: Workcounter of slave discover datagram = number of slaves found

◆ ec_config_overlap_map()

int ec_config_overlap_map ( void * pIOmap )

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

Parameters

[out] pIOmap = pointer to IOmap

Returns: IOmap size

◆ ec_config_overlap_map_group()

int ec_config_overlap_map_group	(	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

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

Returns: IOmap size

See also: ecx_config_overlap_map_group

◆ ec_findconfig()

int ec_findconfig	(	uint32	man,
		uint32	id
	)

Find slave in standard configuration list ec_configlist[]

Parameters

[in]	man	= manufacturer
[in]	id	= ID

Returns: index in ec_configlist[] when found, otherwise 0

◆ ec_reconfig_slave()

int ec_reconfig_slave	(	uint16	slave,
		int	timeout
	)

Reconfigure slave.

Parameters

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

Returns: Slave state

See also: ecx_reconfig_slave

◆ ec_recover_slave()

int ec_recover_slave	(	uint16	slave,
		int	timeout
	)

Recover slave.

Parameters

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

Returns: >0 if successful

See also: ecx_recover_slave

◆ ecx_config_create_input_mappings()

static void ecx_config_create_input_mappings	(	ecx_contextt *	context,
		void *	pIOmap,
		uint8	group,
		int16	slave,
		uint32 *	LogAddr,
		uint8 *	BitPos
	)

static

◆ ecx_config_create_output_mappings()

static void ecx_config_create_output_mappings	(	ecx_contextt *	context,
		void *	pIOmap,
		uint8	group,
		int16	slave,
		uint32 *	LogAddr,
		uint8 *	BitPos
	)

static

◆ ecx_config_find_mappings()

static void ecx_config_find_mappings	(	ecx_contextt *	context,
		uint8	group
	)

static

◆ ecx_config_from_table()

static int ecx_config_from_table	(	ecx_contextt *	context,
		uint16	slave
	)

static

◆ 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_detect_slaves()

int ecx_detect_slaves ( ecx_contextt * context )

◆ ecx_get_threadcount()

static int ecx_get_threadcount ( void )

static

◆ ecx_init_context()

void ecx_init_context ( ecx_contextt * context )

◆ ecx_lookup_mapping()

static int ecx_lookup_mapping	(	ecx_contextt *	context,
		uint16	slave,
		int *	Osize,
		int *	Isize
	)

static

◆ ecx_lookup_prev_sii()

static int ecx_lookup_prev_sii	(	ecx_contextt *	context,
		uint16	slave
	)

static

◆ ecx_map_coe_soe()

static int ecx_map_coe_soe	(	ecx_contextt *	context,
		uint16	slave,
		int	thread_n
	)

static

◆ ecx_map_sii()

static int ecx_map_sii	(	ecx_contextt *	context,
		uint16	slave
	)

static

◆ ecx_map_sm()

static int ecx_map_sm	(	ecx_contextt *	context,
		uint16	slave
	)

static

◆ 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

◆ ecx_set_slaves_to_default()

static void ecx_set_slaves_to_default ( ecx_contextt * context )

static

Variable Documentation

◆ ecx_mapt

ecx_mapt_t ecx_mapt[EC_MAX_MAPT]

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ EC_DEFAULTDOSM0

◆ EC_DEFAULTMBXSM0

◆ EC_DEFAULTMBXSM1

Function Documentation

◆ ec_config()

◆ ec_config_init()

◆ ec_config_map()

◆ ec_config_map_group()

◆ ec_config_overlap()

◆ ec_config_overlap_map()

◆ ec_config_overlap_map_group()

◆ ec_findconfig()

◆ ec_reconfig_slave()

◆ ec_recover_slave()

◆ ecx_config_create_input_mappings()

◆ ecx_config_create_output_mappings()

◆ ecx_config_find_mappings()

◆ ecx_config_from_table()

◆ ecx_config_init()

◆ ecx_config_map_group()

◆ ecx_config_overlap_map_group()

◆ ecx_detect_slaves()

◆ ecx_get_threadcount()

◆ ecx_init_context()

◆ ecx_lookup_mapping()

◆ ecx_lookup_prev_sii()

◆ ecx_map_coe_soe()

◆ ecx_map_sii()

◆ ecx_map_sm()

◆ ecx_reconfig_slave()

◆ ecx_recover_slave()

◆ ecx_set_slaves_to_default()

Variable Documentation

◆ ecx_mapt