Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

Link zu dieser Vergleichsansicht

Nächste Überarbeitung
Vorhergehende Überarbeitung
embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-03-05 15:41]
Gehrig Marcel angelegt
embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-05-21 08:51] (aktuell)
Gehrig Marcel
Zeile 1: Zeile 1:
-====== ​Understanding EtherCatInterface ​====== +====== ​ecmasterlib  ​====== 
-===== ecmasterlib ​=====+===== Summary ​===== 
 The //"​ecmasterlib"//​ provides a callback function (''​void callbackFct(...)''​) which is called by the Acontis stack once per EtherCAT cycle. The //"​ecmasterlib"//​ provides a callback function (''​void callbackFct(...)''​) which is called by the Acontis stack once per EtherCAT cycle.
 This method: This method:
Zeile 8: Zeile 9:
 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 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.+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. When an //"​ecmasterlib"//​ object is created, an instance (monotonic) is created.
Zeile 14: Zeile 15:
  
  
-===== 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 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**. 
  
-All advanced functions can take several cycles. 
-They are only completed when they return ''​true''​. 
-These methods must be called again in each cycle until they return ''​true''​.