docs/soem__mailbox_8h_source.html

#pragma once


#include <soem/soem.h>


#include <cstdint>

#include <vector>


#include "comm/fieldbus_driver.h"


namespace mm::comm::soem {


void drainMailbox(ecx_contextt* ctx, uint16_t slavePosition);


void reportUnknownMailboxWrites(ecx_contextt* ctx, uint16_t slavePosition);


std::vector<uint8_t> makeFoeAbortRequest(uint8_t counter);


void abortFoeTransfer(ecx_contextt* ctx, uint16_t slavePosition);


constexpr int kLateFrameTimeoutUs = 100'000;


void updateMailboxSyncManagers(ecx_contextt* ctx, uint16_t slave, EtherCatState targetState);


}  // namespace mm::comm::soem

fieldbus_driver.h

mm::comm::soem
Definition soem_fieldbus_driver.cc:35

mm::comm::soem::reportUnknownMailboxWrites
void reportUnknownMailboxWrites(ecx_contextt *ctx, uint16_t slavePosition)
Logs the mailbox writes to a slave that got no frame back, and resets their count.
Definition soem_mailbox.cc:27

mm::comm::soem::updateMailboxSyncManagers
void updateMailboxSyncManagers(ecx_contextt *ctx, uint16_t slave, EtherCatState targetState)
Programs the mailbox sync managers of a slave for targetState.
Definition soem_mailbox.cc:102

mm::comm::soem::makeFoeAbortRequest
std::vector< uint8_t > makeFoeAbortRequest(uint8_t counter)
Builds an FoE ERROR request, which aborts a slave's FoE transfer.
Definition soem_mailbox.cc:38

mm::comm::soem::drainMailbox
void drainMailbox(ecx_contextt *ctx, uint16_t slavePosition)
Discards whatever is sitting in a slave's read mailbox, ignoring the contents.
Definition soem_mailbox.cc:12

mm::comm::soem::abortFoeTransfer
void abortFoeTransfer(ecx_contextt *ctx, uint16_t slavePosition)
Ends the FoE transfer a slave may still have in progress.
Definition soem_mailbox.cc:66

mm::comm::soem::kLateFrameTimeoutUs
constexpr int kLateFrameTimeoutUs
How long a register read or write that a state change depends on waits for its frame,...
Definition soem_mailbox.h:84

mm::comm::EtherCatState
EtherCatState
EtherCAT Application Layer state values.
Definition fieldbus_driver.h:45