SDK_Bussystem_EtherCat.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_Bussystem_EtherCat.mh"
 
long sdkEtherCATMasterInitialize(void)
{
    long slaveCount = 0;
 
    ECatMasterCommand(0x1000, 0);               // disable Master
    ECatMasterCommand(0x1000, 1);               // start Master
    ECatMasterInfo(0x1000, 0, slaveCount);      // slave count
 
    print(" ECAT salve count: ",slaveCount);
    return(slaveCount);
}
 
long sdkEtherCATMasterDoMapping(void)
{
    print("map input/output");
    return ECatMasterCommand(0x1000, 2);    //  Map Input and Output buffers (go to safeop)
}
 
 
long sdkEtherCATSetupDC(long slaveNo, long cycleTime_ms, long offset_us)
{
    ECatMasterCommand(slaveNo, ( (cycleTime_ms<<8) + (offset_us<<16)));
 
    return(1);
}
 
 
long sdkEtherCATMasterStart(void)
{
    long offsetValue;
    long dcActive = 0;
 
    Delay(2);   //Wait for ECatMasterInfo(0x1000, 12) value to be updated the first time
 
    ECatMasterInfo(0, 30, dcActive);    //is DC configured?
    print("DC Active: ", dcActive);
 
    if(dcActive)
    {
        print("wait for DC to lock");
        offsetValue = 100001;
        while(abs(offsetValue) > 1000)
        {
            ECatMasterInfo(0x1000, 12, offsetValue);
            print("Offset time [ns]: ",offsetValue);
            Delay(300);
        }
    }
 
    print("wait for op");
    ECatMasterCommand(0x1000, 3);   //  request & wait OP state for all slaves
 
    return(1);
}