ethercatconfig.c File Reference

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	ec_configlist_t

Macros
#define	EC_PRINT(...)   do {} while (0)
#define	EC_DEFAULTMBXSM0   0x00010026
#define	EC_DEFAULTMBXSM1   0x00010022
#define	EC_DEFAULTDOSM0   0x00010044

Functions
int	ec_findconfig (uint32 man, uint32 id)
int	ecx_config_init (ecx_contextt *context, uint8 usetable)
int	ecx_config_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_map (void *pIOmap)
int	ec_config (uint8 usetable, void *pIOmap)
int	ec_recover_slave (uint16 slave, int timeout)
int	ec_reconfig_slave (uint16 slave, int timeout)

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

#define EC_DEFAULTDOSM0   0x00010044

standard SM0 flags configuration for digital output slaves

#define EC_DEFAULTMBXSM0   0x00010026

standard SM0 flags configuration for mailbox slaves

#define EC_DEFAULTMBXSM1   0x00010022

standard SM1 flags configuration for mailbox slaves

#define EC_PRINT

(

...

)

do {} while (0)

Function Documentation

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

int ec_config_init

(

uint8

usetable

)

int ec_config_map

(

void *

pIOmap

)

Map all PDOs from slaves to IOmap.

Parameters

[out]

pIOmap

= pointer to IOmap

Returns

IOmap size

int ec_config_map_group	(	void *	pIOmap,
		uint8	group
	)

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

int ec_reconfig_slave	(	uint16	slave,
		int	timeout
	)

int ec_recover_slave	(	uint16	slave,
		int	timeout
	)

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

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

Map all PDOs in one group of slaves to IOmap.

Parameters

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

Returns

IOmap size

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

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