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	ecx_mapt_t
struct	ec_configlist_t
Defines
#define	EC_PRINT(...)   do {} while (0)
#define	MAX_MAPT   8
#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)
static int	ecx_map_sii (ecx_contextt *context, uint16 slave)
static int	ecx_map_sm (ecx_contextt *context, uint16 slave)
OSAL_THREAD_FUNC	ecx_mapper_thread (void *param)
static int	ecx_find_mapt (void)
static int	ecx_get_threadcount (void)
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)
Variables
ecx_mapt_t	ecx_mapt [MAX_MAPT]
OSAL_THREAD_HANDLE	ecx_threadh [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.

---

Define 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)

#define MAX_MAPT   8

---

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
	)

static int ecx_config_from_table	(	ecx_contextt *	context,
		uint16	slave
	)		[static]

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_detect_slaves

(

ecx_contextt *

context

)

static int ecx_find_mapt

(

void

)

[static]

static int ecx_get_threadcount

(

void

)

[static]

void ecx_init_context

(

ecx_contextt *

context

)

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

static int ecx_lookup_prev_sii	(	ecx_contextt *	context,
		uint16	slave
	)		[static]

static int ecx_map_coe_soe	(	ecx_contextt *	context,
		uint16	slave
	)		[static]

static int ecx_map_sii	(	ecx_contextt *	context,
		uint16	slave
	)		[static]

static int ecx_map_sm	(	ecx_contextt *	context,
		uint16	slave
	)		[static]

OSAL_THREAD_FUNC ecx_mapper_thread

(

void *

param

)

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

static void ecx_set_slaves_to_default

(

ecx_contextt *

context

)

[static]

---

Variable Documentation

ecx_mapt_t ecx_mapt[MAX_MAPT]

OSAL_THREAD_HANDLE ecx_threadh[MAX_MAPT]