ethercat_interface::EcMaster Class Reference

#include <ec_master.hpp>

Public Types
typedef void(*	SIMPLECAT_CONTRL_CALLBACK) (void)
typedef void(*	SIMPLECAT_EXIT_CALLBACK) (int)

Public Member Functions
	EcMaster (const int master=0)
virtual	~EcMaster ()
void	addSlave (uint16_t alias, uint16_t position, EcSlave *slave)
	add a slave device to the master alias and position can be found by running the following command /opt/etherlab/bin$ sudo ./ethercat slaves look for the "A B:C STATUS DEVICE" (e.g. B=alias, C=position) More...
int	configSlaveSdo (uint16_t slave_position, SdoConfigEntry sdo_config, uint32_t *abort_code)
	configure slave using SDO More...
bool	activate ()
virtual void	update (uint32_t domain=0)
virtual void	run (SIMPLECAT_CONTRL_CALLBACK user_callback)
virtual void	stop ()
virtual double	elapsedTime ()
virtual uint64_t	elapsedCycles ()
void	setCtrlFrequency (double frequency)
uint32_t	getInterval ()
void	readData (uint32_t domain=0)
void	writeData (uint32_t domain=0)

Static Public Member Functions
static void	setCtrlCHandler (SIMPLECAT_EXIT_CALLBACK user_callback=NULL)
static void	setThreadHighPriority ()
static void	setThreadRealTime ()

Member Typedef Documentation

SIMPLECAT_CONTRL_CALLBACK

typedef void(* ethercat_interface::EcMaster::SIMPLECAT_CONTRL_CALLBACK) (void)

run a control loop of update() and user_callback(), blocking. call activate and setThreadHighPriority/RealTime first.

SIMPLECAT_EXIT_CALLBACK

typedef void(* ethercat_interface::EcMaster::SIMPLECAT_EXIT_CALLBACK) (int)

add ctr-c exit callback. default exits the run loop and prints timing

Constructor & Destructor Documentation

EcMaster()

ethercat_interface::EcMaster::EcMaster ( const int  master = 0 )

explicit

~EcMaster()

virtual ethercat_interface::EcMaster::~EcMaster ( )

virtual

Member Function Documentation

addSlave()

void ethercat_interface::EcMaster::addSlave	(	uint16_t	alias,
		uint16_t	position,
		EcSlave *	slave
	)

add a slave device to the master alias and position can be found by running the following command /opt/etherlab/bin$ sudo ./ethercat slaves look for the "A B:C STATUS DEVICE" (e.g. B=alias, C=position)

configSlaveSdo()

int ethercat_interface::EcMaster::configSlaveSdo	(	uint16_t	slave_position,
		SdoConfigEntry	sdo_config,
		uint32_t *	abort_code
	)

configure slave using SDO

activate()

bool ethercat_interface::EcMaster::activate

(

)

call after adding all slaves, and before update

update()

virtual void ethercat_interface::EcMaster::update ( uint32_t  domain = 0 )

virtual

perform one EtherCAT cycle, passing the domain to the slaves

run()

virtual void ethercat_interface::EcMaster::run ( SIMPLECAT_CONTRL_CALLBACK  user_callback )

virtual

stop()

virtual void ethercat_interface::EcMaster::stop ( )

inlinevirtual

stop the control loop. use within callback, or from a separate thread.

elapsedTime()

virtual double ethercat_interface::EcMaster::elapsedTime ( )

virtual

time of last ethercat update, since calling run. stops if stop called. returns actual time. use elapsedCycles()/frequency for discrete time at last update.

elapsedCycles()

virtual uint64_t ethercat_interface::EcMaster::elapsedCycles ( )

virtual

number of EtherCAT updates since calling run.

setCtrlCHandler()

static void ethercat_interface::EcMaster::setCtrlCHandler ( SIMPLECAT_EXIT_CALLBACK  user_callback = NULL )

static

setThreadHighPriority()

static void ethercat_interface::EcMaster::setThreadHighPriority ( )

static

set the thread to a priority of -19 priority range is -20 (highest) to 19 (lowest)

setThreadRealTime()

static void ethercat_interface::EcMaster::setThreadRealTime ( )

static

set the thread to real time (FIFO) thread cannot be preempted. set priority as 49 (kernel and interrupts are 50)

setCtrlFrequency()

void ethercat_interface::EcMaster::setCtrlFrequency ( double  frequency )

inline

getInterval()

uint32_t ethercat_interface::EcMaster::getInterval ( )

inline

readData()

void ethercat_interface::EcMaster::readData

(

uint32_t

domain = 0

)

writeData()

void ethercat_interface::EcMaster::writeData

(

uint32_t

domain = 0

)

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The documentation for this class was generated from the following file:

• /home/runner/work/ethercat_driver_ros2/ethercat_driver_ros2/ethercat_interface/include/ethercat_interface/ec_master.hpp