Struct ethercat_soem_ctx::Ctx

pub struct Ctx {
    pub io_map: [u8; 4096],
    /* private fields */
}

SOEM ecx_context wrapper

Fields

io_map: [u8; 4096]

I/O map

Implementations

impl Ctx

pub fn init(&mut self, iface: CString) -> i32

Initialise lib in single NIC mode.

Return > 0 if OK.

pub fn config_init(&mut self, use_table: bool) -> i32

pub fn config_map_group(&mut self, group: u8) -> i32

pub fn config_dc(&mut self) -> u8

pub const fn slave_count(&self) -> usize

pub fn slaves(&self) -> &[Slave; 200]

pub fn slaves_mut(&mut self) -> &mut [Slave; 200]

pub const fn groups(&self) -> &[Group; 2]

pub fn write_state(&mut self, slave: u16) -> i32

Write slave state, if slave = 0 then write to all slaves.

The function does not check if the actual state is changed. It returns Workcounter or EC_NOFRAME (= -1),

pub fn state_check(&mut self, slave: u16, state: u16, timeout: Duration) -> u16

Check actual slave state.

This is a blocking function. To refresh the state of all slaves read_state() should be called.

Parameter slave = Slave number, 0 = all slaves (only the “slavelist[0].state” is refreshed).

It returns requested state, or found state after timeout.

pub fn read_state(&mut self) -> i32

Read all slave states in ec_slave.

It returns the lowest state found,

pub fn send_processdata(&mut self) -> i32

pub fn receive_processdata(&mut self, timeout: Duration) -> i32

pub fn read_od_list(&mut self, slave: u16, od_list: &mut OdList) -> i32

pub fn read_od_description(&mut self, item: u16, od_list: &mut OdList) -> i32

pub fn read_oe(
    &mut self,
    item: u16,
    od_list: &mut OdList,
    oe_list: &mut OeList
) -> i32

pub fn sdo_read<'t>(
    &mut self,
    slave: u16,
    idx: u16,
    sub_idx: u8,
    access_complete: bool,
    target: &'t mut [u8],
    timeout: Duration
) -> (i32, &'t mut [u8])

pub fn sdo_write(
    &mut self,
    slave: u16,
    idx: u16,
    sub_idx: u8,
    access_complete: bool,
    data: &[u8],
    timeout: Duration
) -> i32

pub const fn max_group(&self) -> i32

pub fn is_err(&mut self) -> bool

pub fn pop_error(&mut self) -> Option<Error>

pub const fn dc_time(&self) -> i64

Trait Implementations

impl Default for Ctx

fn default() -> Self

Returns the “default value” for a type.