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--- embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-04-16 10:31] – mgehrig2
+++ embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-06-24 16:49] (aktuell) – gelöscht graf
@@ Zeile 1: / Zeile 1: @@
-====== Understanding EtherCatInterface ======
-===== ecmasterlib =====
-The //"ecmasterlib"// provides a callback function (''void callbackFct(...)'') which is called by the Acontis stack once per EtherCAT cycle.
-This method:
-  * Copies the received data from the stack into the receive buffer of //"ecmasterlib"//
-  * Copies the data to be sent from the send buffer of //"ecmasterlib"// to the stack.
-The receive and send buffers of //"ecmasterlib"// are byte arrays (''uint8_t* inBuffer; uint8_t* outBuffer;'') which are the same size as the PDOs.
-The //"ecmasterlib"// also provides a condition variable (''std::condition_variable cv;'') to synchronize the user application (i.e. EEROS).
-When an //"ecmasterlib"// object is created, an instance (monotonic) is created.
-The stack is started exactly as in the //"EcMasterDemoDC"// of Acontis.
-===== EtherCatInterfaceBase =====
-This is the base class for all interface classes.
-It mainly provides ''set'' and ''get'' methods for 8, 16, and 32 bit long data.
-The get methods calculate the correct offset of the receive buffer of the //"ecmasterlib"// and returns the data.
-The set methods also calculate the offset and write the data into the transmit buffer of //"ecmasterlib"//.
-==== EtherCatInterfaceBase_config.hpp ====
-===== EtherCatInterfaceElmo =====
-The //"EtherCatInterfaceElmo"// is especially designed for the Gold Twitter drives from Elmo.
-It consists of the following components:
-  * EtherCatInterfaceElmo.hpp
-  * EtherCatInterfaceElmo.cpp
-  * EtherCatInterfaceElmo_config.hpp
-The //"EtherCatInterfaceElmo.hpp"// declares all methods of the interface.
-The low level methods ('ll_'-prefix) 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 //"EtherCatInterfaceElmo_config.hpp"//.
-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**.
-Some advanced functions may take several cycles.
-They are only completed when they return ''true''.
-These methods must be called again in each cycle until they return ''true''.
-==== EtherCatInterfaceElmo_config.hpp ====
-This is configuration file has do be adapted depending on the EtherCAT network.
-The most important part of this file is the offset definition of all PDO offset.
-Befor you start your application, you have to define all PDO offsets of your network.
-Be aware that EtherCATInterface assumes that all drives send the identical variables via PDO.
-With the current implementation it is not possible to send different variables for different drives.
-If a variable is not available, the offset is set to '-1'.
-The methodes which would use a unavailable variable will throw an error if called.

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