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Nächste Überarbeitung | Vorhergehende ÜberarbeitungNächste ÜberarbeitungBeide Seiten der Revision | ||
embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-03-05 15:41] – angelegt mgehrig2 | embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-05-21 08:51] – mgehrig2 | ||
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- | ====== | + | ====== |
- | ===== ecmasterlib | + | ===== Summary |
The //" | The //" | ||
This method: | This method: | ||
Zeile 8: | Zeile 9: | ||
The receive and send buffers of //" | The receive and send buffers of //" | ||
- | The //" | + | The //" |
When an //" | When an //" | ||
Zeile 14: | Zeile 15: | ||
- | ===== EtherCatInterfaceBase ===== | ||
- | This is the base class for all interface classes. | ||
- | It mainly provides '' | ||
- | The get methods calculate the correct offset of the receive buffer of the //" | ||
- | The set methods also calculate the offset and write the data into the transmit buffer of //" | ||
- | |||
- | ==== EtherCatInterfaceBase_config.hpp ==== | ||
- | |||
- | |||
- | ===== EtherCatInterfaceElmo ===== | ||
- | The //" | ||
- | It consists of the following components: | ||
- | * EtherCatInterfaceElmo.hpp | ||
- | * EtherCatInterfaceElmo.cpp | ||
- | * EtherCatInterfaceElmo_config.hpp | ||
- | |||
- | The //" | ||
- | The low level methods are at the bottom of the page. | ||
- | |||
- | These low level methods read and write individual data objects to/from the stack. | ||
- | Which objects are available and their file type must be read from the documentation of the manufacturer of the EtherCAT slave. | ||
- | Each data object has its own method. | ||
- | |||
- | Where a data object is located in the PDO depends on the ENI file used. | ||
- | These offsets must be read from the ENI file and configured in //" | ||
- | |||
- | All methods above the low level methods are optional. | ||
- | They contain a certain degree of intelligence and simplify the interface to the user application. | ||
- | |||
- | ==== Blocking functions ==== | ||
- | Methods in the interface must never be **blocking**. | ||
- | All advanced functions can take several cycles. | ||
- | They are only completed when they return '' | ||
- | These methods must be called again in each cycle until they return '' |