Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Nächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-03-05 15:41] – angelegt mgehrig2 | embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-06-24 16:35] – graf | ||
---|---|---|---|
Zeile 1: | Zeile 1: | ||
- | ====== | + | ====== |
- | ===== 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 //" | ||
- | The stack is started | + | The stack is started |
- | + | ||
- | + | ||
- | ===== 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 '' |