EtherCAT master methods. More...

Macros
#define	DEBUG_INJECT 0
	Set to 1 to enable external datagram injection debugging.

#define	FORCE_OUTPUT_CORRUPTED 0
	Always output corrupted frames.

#define	EC_SDO_INJECTION_TIMEOUT 10000
	SDO injection timeout in microseconds. More...

#define	EC_FIND_SLAVE
	Common implementation for ec_master_find_slave() and ec_master_find_slave_const(). More...

#define	EC_FIND_CONFIG
	Common implementation for ec_master_get_config() and ec_master_get_config_const(). More...

#define	EC_FIND_DOMAIN
	Common implementation for ec_master_find_domain() and ec_master_find_domain_const(). More...

Functions
void	ec_master_clear_slave_configs (ec_master_t *master)
	Clear all slave configurations.

void	ec_master_clear_domains (ec_master_t *master)
	Clear all domains.

static int	ec_master_idle_thread (void *priv_data)
	Master kernel thread function for IDLE phase.

static int	ec_master_operation_thread (void *priv_data)
	Master kernel thread function for OPERATION phase.

void	ec_master_find_dc_ref_clock (ec_master_t *master)
	Finds the DC reference clock. More...

void	ec_master_clear_device_stats (ec_master_t *master)
	Clears the common device statistics. More...

void	ec_master_update_device_stats (ec_master_t *master)
	Updates the common device statistics. More...

void	ec_master_init_static (void)
	Static variables initializer.

int	ec_master_init (ec_master_t master, unsigned int index, const uint8_t main_mac, const uint8_t backup_mac, dev_t device_number, struct class class, unsigned int debug_level, unsigned int run_on_cpu)
	Master constructor. More...

void	ec_master_clear (ec_master_t *master)
	Destructor. More...

void	ec_master_clear_slaves (ec_master_t *master)
	Clear all slaves.

void	ec_master_clear_config (ec_master_t *master)
	Clear the configuration applied by the application. More...

void	ec_master_internal_send_cb (void *cb_data)
	Internal sending callback. More...

void	ec_master_internal_receive_cb (void *cb_data)
	Internal receiving callback. More...

int	ec_master_thread_start (ec_master_t master, int(thread_func)(void ), const char name)
	Starts the master thread. More...

void	ec_master_thread_stop (ec_master_t *master)
	Stops the master thread. More...

int	ec_master_enter_idle_phase (ec_master_t *master)
	Transition function from ORPHANED to IDLE phase. More...

void	ec_master_leave_idle_phase (ec_master_t *master)
	Transition function from IDLE to ORPHANED phase. More...

int	ec_master_enter_operation_phase (ec_master_t *master)
	Transition function from IDLE to OPERATION phase. More...

void	ec_master_leave_operation_phase (ec_master_t *master)
	Transition function from OPERATION to IDLE phase. More...

void	ec_master_inject_external_datagrams (ec_master_t *master)
	Injects external datagrams that fit into the datagram queue. More...

void	ec_master_set_send_interval (ec_master_t *master, unsigned int send_interval)
	Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue. More...

ec_datagram_t *	ec_master_get_external_datagram (ec_master_t *master)
	Searches for a free datagram in the external datagram ring. More...

void	ec_master_queue_datagram (ec_master_t master, ec_datagram_t datagram)
	Places a datagram in the datagram queue. More...

void	ec_master_queue_datagram_ext (ec_master_t master, ec_datagram_t datagram)
	Places a datagram in the non-application datagram queue. More...

void	ec_master_send_datagrams (ec_master_t *master, ec_device_index_t device_index)
	Sends the datagrams in the queue for a certain device. More...

void	ec_master_receive_datagrams (ec_master_t master, ec_device_t device, const uint8_t *frame_data, size_t size)
	Processes a received frame. More...

void	ec_master_output_stats (ec_master_t *master)
	Output master statistics. More...

void	ec_master_exec_slave_fsms (ec_master_t *master)
	Execute slave FSMs. More...

void	ec_master_attach_slave_configs (ec_master_t *master)
	Attaches the slave configurations to the slaves. More...

ec_slave_t *	ec_master_find_slave (ec_master_t *master, uint16_t alias, uint16_t position)
	Finds a slave in the bus, given the alias and position. More...

const ec_slave_t *	ec_master_find_slave_const (const ec_master_t *master, uint16_t alias, uint16_t position)
	Finds a slave in the bus, given the alias and position. More...

unsigned int	ec_master_config_count (const ec_master_t *master)
	Get the number of slave configurations provided by the application. More...

ec_slave_config_t *	ec_master_get_config (const ec_master_t *master, unsigned int pos)
	Get a slave configuration via its position in the list. More...

const ec_slave_config_t *	ec_master_get_config_const (const ec_master_t *master, unsigned int pos)
	Get a slave configuration via its position in the list. More...

unsigned int	ec_master_domain_count (const ec_master_t *master)
	Get the number of domains. More...

ec_domain_t *	ec_master_find_domain (ec_master_t *master, unsigned int index)
	Get a domain via its position in the list. More...

const ec_domain_t *	ec_master_find_domain_const (const ec_master_t *master, unsigned int index)
	Get a domain via its position in the list. More...

int	ec_master_debug_level (ec_master_t *master, unsigned int level)
	Set the debug level. More...

int	ec_master_calc_topology_rec (ec_master_t master, ec_slave_t port0_slave, unsigned int *slave_position)
	Calculates the bus topology; recursion function. More...

void	ec_master_calc_topology (ec_master_t *master)
	Calculates the bus topology. More...

void	ec_master_calc_transmission_delays (ec_master_t *master)
	Calculates the bus transmission delays. More...

void	ec_master_calc_dc (ec_master_t *master)
	Distributed-clocks calculations. More...

void	ec_master_request_op (ec_master_t *master)
	Request OP state for configured slaves. More...

ec_domain_t *	ecrt_master_create_domain_err (ec_master_t *master)
	Same as ecrt_master_create_domain(), but with ERR_PTR() return value. More...

ec_domain_t *	ecrt_master_create_domain (ec_master_t *master)
	Creates a new process data domain. More...

int	ecrt_master_activate (ec_master_t *master)
	Finishes the configuration phase and prepares for cyclic operation. More...

void	ecrt_master_deactivate (ec_master_t *master)
	Deactivates the master. More...

void	ecrt_master_send (ec_master_t *master)
	Sends all datagrams in the queue. More...

void	ecrt_master_receive (ec_master_t *master)
	Fetches received frames from the hardware and processes the datagrams. More...

void	ecrt_master_send_ext (ec_master_t *master)
	Sends non-application datagrams. More...

ec_slave_config_t *	ecrt_master_slave_config_err (ec_master_t *master, uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code)
	Same as ecrt_master_slave_config(), but with ERR_PTR() return value.

ec_slave_config_t *	ecrt_master_slave_config (ec_master_t *master, uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code)
	Obtains a slave configuration. More...

int	ecrt_master_select_reference_clock (ec_master_t master, ec_slave_config_t sc)
	Selects the reference clock for distributed clocks. More...

int	ecrt_master (ec_master_t master, ec_master_info_t master_info)
	Obtains master information. More...

int	ecrt_master_get_slave (ec_master_t master, uint16_t slave_position, ec_slave_info_t slave_info)
	Obtains slave information. More...

void	ecrt_master_callbacks (ec_master_t master, void(send_cb)(void ), void(receive_cb)(void ), void cb_data)
	Sets the locking callbacks. More...

void	ecrt_master_state (const ec_master_t master, ec_master_state_t state)
	Reads the current master state. More...

int	ecrt_master_link_state (const ec_master_t master, unsigned int dev_idx, ec_master_link_state_t state)
	Reads the current state of a redundant link. More...

void	ecrt_master_application_time (ec_master_t *master, uint64_t app_time)
	Sets the application time. More...

int	ecrt_master_reference_clock_time (ec_master_t master, uint32_t time)
	Get the lower 32 bit of the reference clock system time. More...

void	ecrt_master_sync_reference_clock (ec_master_t *master)
	Queues the DC reference clock drift compensation datagram for sending. More...

void	ecrt_master_sync_reference_clock_to (ec_master_t *master, uint64_t sync_time)
	Queues the DC reference clock drift compensation datagram for sending. More...

void	ecrt_master_sync_slave_clocks (ec_master_t *master)
	Queues the DC clock drift compensation datagram for sending. More...

void	ecrt_master_sync_monitor_queue (ec_master_t *master)
	Queues the DC synchrony monitoring datagram for sending. More...

uint32_t	ecrt_master_sync_monitor_process (ec_master_t *master)
	Processes the DC synchrony monitoring datagram. More...

int	ecrt_master_sdo_download (ec_master_t master, uint16_t slave_position, uint16_t index, uint8_t subindex, uint8_t data, size_t data_size, uint32_t *abort_code)
	Executes an SDO download request to write data to a slave. More...

int	ecrt_master_sdo_download_complete (ec_master_t master, uint16_t slave_position, uint16_t index, uint8_t data, size_t data_size, uint32_t *abort_code)
	Executes an SDO download request to write data to a slave via complete access. More...

int	ecrt_master_sdo_upload (ec_master_t master, uint16_t slave_position, uint16_t index, uint8_t subindex, uint8_t target, size_t target_size, size_t result_size, uint32_t abort_code)
	Executes an SDO upload request to read data from a slave. More...

int	ecrt_master_write_idn (ec_master_t master, uint16_t slave_position, uint8_t drive_no, uint16_t idn, uint8_t data, size_t data_size, uint16_t *error_code)
	Executes an SoE write request. More...

int	ecrt_master_read_idn (ec_master_t master, uint16_t slave_position, uint8_t drive_no, uint16_t idn, uint8_t target, size_t target_size, size_t result_size, uint16_t error_code)
	Executes an SoE read request. More...

void	ecrt_master_reset (ec_master_t *master)
	Retry configuring slaves. More...

Variables
static unsigned long	timeout_jiffies
	Frame timeout in jiffies.

static unsigned long	ext_injection_timeout_jiffies
	Timeout for external datagram injection [jiffies].

const unsigned int	rate_intervals []
	List of intervals for statistics [s]. More...

Detailed Description

EtherCAT master methods.

Definition in file master.c.

Macro Definition Documentation

◆ EC_SDO_INJECTION_TIMEOUT

#define EC_SDO_INJECTION_TIMEOUT 10000

SDO injection timeout in microseconds.

Definition at line 74 of file master.c.

◆ EC_FIND_SLAVE

#define EC_FIND_SLAVE

Value:

do { \
        if (alias) { \
            for (; slave < master->slaves + master->slave_count; \
                    slave++) { \
                if (slave->effective_alias == alias) \
                break; \
            } \
            if (slave == master->slaves + master->slave_count) \
            return NULL; \
        } \
        \
        slave += position; \
        if (slave < master->slaves + master->slave_count) { \
            return slave; \
        } else { \
            return NULL; \
        } \
    } while (0)

Common implementation for ec_master_find_slave() and ec_master_find_slave_const().

Definition at line 1824 of file master.c.

◆ EC_FIND_CONFIG

#define EC_FIND_CONFIG

Value:

do { \
        list_for_each_entry(sc, &master->configs, list) { \
            if (pos--) \
                continue; \
            return sc; \
        } \
        return NULL; \
    } while (0)

Common implementation for ec_master_get_config() and ec_master_get_config_const().

Definition at line 1899 of file master.c.

◆ EC_FIND_DOMAIN

#define EC_FIND_DOMAIN

Value:

do { \
        list_for_each_entry(domain, &master->domains, list) { \
            if (index--) \
                continue; \
            return domain; \
        } \
        \
        return NULL; \
    } while (0)

Common implementation for ec_master_find_domain() and ec_master_find_domain_const().

Definition at line 1962 of file master.c.

Function Documentation

◆ ec_master_find_dc_ref_clock()

void ec_master_find_dc_ref_clock ( ec_master_t * master )

Finds the DC reference clock.

Parameters

master EtherCAT master.

Definition at line 2079 of file master.c.

◆ ec_master_clear_device_stats()

void ec_master_clear_device_stats ( ec_master_t * master )

Clears the common device statistics.

Parameters

master EtherCAT master

Definition at line 1305 of file master.c.

◆ ec_master_update_device_stats()

void ec_master_update_device_stats ( ec_master_t * master )

Updates the common device statistics.

Parameters

master EtherCAT master

Definition at line 1337 of file master.c.

◆ ec_master_init()

int ec_master_init	(	ec_master_t *	master,
		unsigned int	index,
		const uint8_t *	main_mac,
		const uint8_t *	backup_mac,
		dev_t	device_number,
		struct class *	class,
		unsigned int	debug_level,
		unsigned int	run_on_cpu
	)

Master constructor.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
index	master index
main_mac	MAC address of main device
backup_mac	MAC address of backup device
device_number	Character device number.
class	Device class.
debug_level	Debug level (module parameter).
run_on_cpu	bind created kernel threads to a cpu

Definition at line 142 of file master.c.

◆ ec_master_clear()

void ec_master_clear ( ec_master_t * master )

Destructor.

Parameters

master EtherCAT master

Definition at line 395 of file master.c.

◆ ec_master_clear_config()

void ec_master_clear_config ( ec_master_t * master )

Clear the configuration applied by the application.

Parameters

master EtherCAT master.

Definition at line 535 of file master.c.

◆ ec_master_internal_send_cb()

void ec_master_internal_send_cb ( void * cb_data )

Internal sending callback.

Parameters

cb_data Callback data.

Definition at line 549 of file master.c.

◆ ec_master_internal_receive_cb()

void ec_master_internal_receive_cb ( void * cb_data )

Internal receiving callback.

Parameters

cb_data Callback data.

Definition at line 563 of file master.c.

◆ ec_master_thread_start()

int ec_master_thread_start	(	ec_master_t *	master,
		int()(void )	thread_func,
		const char *	name
	)

Starts the master thread.

Return values

0	Success.
<0	Error code.

Parameters

master	EtherCAT master
thread_func	thread function to start
name	Thread name.

Definition at line 580 of file master.c.

◆ ec_master_thread_stop()

void ec_master_thread_stop ( ec_master_t * master )

Stops the master thread.

Parameters

master EtherCAT master

Definition at line 609 of file master.c.

◆ ec_master_enter_idle_phase()

int ec_master_enter_idle_phase ( ec_master_t * master )

Transition function from ORPHANED to IDLE phase.

Returns: Zero on success, otherwise a negative error code.

Parameters

master EtherCAT master

Definition at line 641 of file master.c.

◆ ec_master_leave_idle_phase()

void ec_master_leave_idle_phase ( ec_master_t * master )

Transition function from IDLE to ORPHANED phase.

Parameters

master EtherCAT master

Definition at line 674 of file master.c.

◆ ec_master_enter_operation_phase()

int ec_master_enter_operation_phase ( ec_master_t * master )

Transition function from IDLE to OPERATION phase.

Returns: Zero on success, otherwise a negative error code.

Parameters

master EtherCAT master

Definition at line 698 of file master.c.

◆ ec_master_leave_operation_phase()

void ec_master_leave_operation_phase ( ec_master_t * master )

Transition function from OPERATION to IDLE phase.

Parameters

master EtherCAT master

Definition at line 780 of file master.c.

◆ ec_master_inject_external_datagrams()

void ec_master_inject_external_datagrams ( ec_master_t * master )

Injects external datagrams that fit into the datagram queue.

Parameters

master EtherCAT master

Definition at line 802 of file master.c.

◆ ec_master_set_send_interval()

void ec_master_set_send_interval	(	ec_master_t *	master,
		unsigned int	send_interval
	)

Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue.

Parameters

master	EtherCAT master
send_interval	Send interval

Definition at line 916 of file master.c.

◆ ec_master_get_external_datagram()

ec_datagram_t* ec_master_get_external_datagram ( ec_master_t * master )

Searches for a free datagram in the external datagram ring.

Returns: Next free datagram, or NULL.

Parameters

master EtherCAT master

Definition at line 933 of file master.c.

◆ ec_master_queue_datagram()

void ec_master_queue_datagram	(	ec_master_t *	master,
		ec_datagram_t *	datagram
	)

Places a datagram in the datagram queue.

Parameters

master	EtherCAT master
datagram	datagram

Definition at line 952 of file master.c.

◆ ec_master_queue_datagram_ext()

void ec_master_queue_datagram_ext	(	ec_master_t *	master,
		ec_datagram_t *	datagram
	)

Places a datagram in the non-application datagram queue.

Parameters

master	EtherCAT master
datagram	datagram

Definition at line 985 of file master.c.

◆ ec_master_send_datagrams()

void ec_master_send_datagrams	(	ec_master_t *	master,
		ec_device_index_t	device_index
	)

Sends the datagrams in the queue for a certain device.

Parameters

master	EtherCAT master
device_index	Device index.

Definition at line 1000 of file master.c.

◆ ec_master_receive_datagrams()

void ec_master_receive_datagrams	(	ec_master_t *	master,
		ec_device_t *	device,
		const uint8_t *	frame_data,
		size_t	size
	)

Processes a received frame.

This function is called by the network driver for every received frame.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
device	EtherCAT device
frame_data	frame data
size	size of the received data

Definition at line 1137 of file master.c.

◆ ec_master_output_stats()

void ec_master_output_stats ( ec_master_t * master )

Output master statistics.

This function outputs statistical data on demand, but not more often than necessary. The output happens at most once a second.

Parameters

master EtherCAT master

Definition at line 1275 of file master.c.

◆ ec_master_exec_slave_fsms()

void ec_master_exec_slave_fsms ( ec_master_t * master )

Execute slave FSMs.

Parameters

master EtherCAT master.

Definition at line 1464 of file master.c.

◆ ec_master_attach_slave_configs()

void ec_master_attach_slave_configs ( ec_master_t * master )

Attaches the slave configurations to the slaves.

Parameters

master EtherCAT master.

Definition at line 1808 of file master.c.

◆ ec_master_find_slave()

ec_slave_t* ec_master_find_slave	(	ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position
	)

Finds a slave in the bus, given the alias and position.

Returns: Search result, or NULL.

Parameters

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 1848 of file master.c.

◆ ec_master_find_slave_const()

const ec_slave_t* ec_master_find_slave_const	(	const ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position
	)

Finds a slave in the bus, given the alias and position.

Const version.

Returns: Search result, or NULL.

Parameters

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 1864 of file master.c.

◆ ec_master_config_count()

unsigned int ec_master_config_count ( const ec_master_t * master )

Get the number of slave configurations provided by the application.

Returns: Number of configurations.

Parameters

master EtherCAT master.

Definition at line 1880 of file master.c.

◆ ec_master_get_config()

ec_slave_config_t* ec_master_get_config	(	const ec_master_t *	master,
		unsigned int	pos
	)

Get a slave configuration via its position in the list.

Returns: Slave configuration or NULL.

Parameters

master	EtherCAT master.
pos	List position.

Definition at line 1913 of file master.c.

◆ ec_master_get_config_const()

const ec_slave_config_t* ec_master_get_config_const	(	const ec_master_t *	master,
		unsigned int	pos
	)

Get a slave configuration via its position in the list.

Const version.

Returns: Slave configuration or NULL.

Parameters

master	EtherCAT master.
pos	List position.

Definition at line 1928 of file master.c.

◆ ec_master_domain_count()

unsigned int ec_master_domain_count ( const ec_master_t * master )

Get the number of domains.

Returns: Number of domains.

Parameters

master EtherCAT master.

Definition at line 1943 of file master.c.

◆ ec_master_find_domain()

ec_domain_t* ec_master_find_domain	(	ec_master_t *	master,
		unsigned int	index
	)

Get a domain via its position in the list.

Returns: Domain pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	Domain index.

Definition at line 1977 of file master.c.

◆ ec_master_find_domain_const()

const ec_domain_t* ec_master_find_domain_const	(	const ec_master_t *	master,
		unsigned int	index
	)

Get a domain via its position in the list.

Const version.

Returns: Domain pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	Domain index.

Definition at line 1992 of file master.c.

◆ ec_master_debug_level()

int ec_master_debug_level	(	ec_master_t *	master,
		unsigned int	level
	)

Set the debug level.

Return values

0	Success.
-EINVAL	Invalid debug level.

Parameters

master	EtherCAT master.
level	Debug level. May be 0, 1 or 2.

Definition at line 2056 of file master.c.

◆ ec_master_calc_topology_rec()

int ec_master_calc_topology_rec	(	ec_master_t *	master,
		ec_slave_t *	port0_slave,
		unsigned int *	slave_position
	)

Calculates the bus topology; recursion function.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
port0_slave	Slave at port 0.
slave_position	Slave position.

Definition at line 2141 of file master.c.

◆ ec_master_calc_topology()

void ec_master_calc_topology ( ec_master_t * master )

Calculates the bus topology.

Parameters

master EtherCAT master.

Definition at line 2184 of file master.c.

◆ ec_master_calc_transmission_delays()

void ec_master_calc_transmission_delays ( ec_master_t * master )

Calculates the bus transmission delays.

Parameters

master EtherCAT master.

Definition at line 2201 of file master.c.

◆ ec_master_calc_dc()

void ec_master_calc_dc ( ec_master_t * master )

Distributed-clocks calculations.

Parameters

master EtherCAT master.

Definition at line 2223 of file master.c.

◆ ec_master_request_op()

void ec_master_request_op ( ec_master_t * master )

Request OP state for configured slaves.

Parameters

master EtherCAT master.

Definition at line 2240 of file master.c.

◆ ecrt_master_create_domain_err()

ec_domain_t* ecrt_master_create_domain_err ( ec_master_t * master )

Same as ecrt_master_create_domain(), but with ERR_PTR() return value.

Returns: New domain, or ERR_PTR() return value.

Parameters

master master

Definition at line 2274 of file master.c.

Variable Documentation

◆ rate_intervals

const unsigned int rate_intervals[]

Initial value:

= {
    1, 10, 60
}

List of intervals for statistics [s].

Definition at line 100 of file master.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ EC_SDO_INJECTION_TIMEOUT

◆ EC_FIND_SLAVE

◆ EC_FIND_CONFIG

◆ EC_FIND_DOMAIN

Function Documentation

◆ ec_master_find_dc_ref_clock()

◆ ec_master_clear_device_stats()

◆ ec_master_update_device_stats()

◆ ec_master_init()

◆ ec_master_clear()

◆ ec_master_clear_config()

◆ ec_master_internal_send_cb()

◆ ec_master_internal_receive_cb()

◆ ec_master_thread_start()

◆ ec_master_thread_stop()

◆ ec_master_enter_idle_phase()

◆ ec_master_leave_idle_phase()

◆ ec_master_enter_operation_phase()

◆ ec_master_leave_operation_phase()

◆ ec_master_inject_external_datagrams()

◆ ec_master_set_send_interval()

◆ ec_master_get_external_datagram()

◆ ec_master_queue_datagram()

◆ ec_master_queue_datagram_ext()

◆ ec_master_send_datagrams()

◆ ec_master_receive_datagrams()

◆ ec_master_output_stats()

◆ ec_master_exec_slave_fsms()

◆ ec_master_attach_slave_configs()

◆ ec_master_find_slave()

◆ ec_master_find_slave_const()

◆ ec_master_config_count()

◆ ec_master_get_config()

◆ ec_master_get_config_const()

◆ ec_master_domain_count()

◆ ec_master_find_domain()

◆ ec_master_find_domain_const()

◆ ec_master_debug_level()

◆ ec_master_calc_topology_rec()

◆ ec_master_calc_topology()

◆ ec_master_calc_transmission_delays()

◆ ec_master_calc_dc()

◆ ec_master_request_op()

◆ ecrt_master_create_domain_err()

Variable Documentation

◆ rate_intervals