equal
deleted
inserted
replaced
2189 execute the EoE state machines. For that, the master owns a kernel timer, that |
2189 execute the EoE state machines. For that, the master owns a kernel timer, that |
2190 is executed each timer interrupt. This guarantees a constant bandwidth, but |
2190 is executed each timer interrupt. This guarantees a constant bandwidth, but |
2191 poses the new problem of concurrent access to the master. The locking |
2191 poses the new problem of concurrent access to the master. The locking |
2192 mechanisms needed for this are introduced in \autoref{sec:concurr}. |
2192 mechanisms needed for this are introduced in \autoref{sec:concurr}. |
2193 |
2193 |
2194 \paragraph{Automatic Configuration} |
|
2195 |
|
2196 By default, slaves are left in PREOP state, if no configuration is applied. If |
|
2197 an EoE interface link is set to ``up'', the requested slave's |
|
2198 application-layer state is automatically set to OP. |
|
2199 |
|
2200 %------------------------------------------------------------------------------ |
2194 %------------------------------------------------------------------------------ |
2201 |
2195 |
2202 \section{CANopen over EtherCAT (CoE)} |
2196 \section{CANopen over EtherCAT (CoE)} |
2203 \label{sec:coe} |
2197 \label{sec:coe} |
2204 \index{CoE} |
2198 \index{CoE} |
2440 %------------------------------------------------------------------------------ |
2434 %------------------------------------------------------------------------------ |
2441 |
2435 |
2442 \subsection{Creating Topology Graphs} |
2436 \subsection{Creating Topology Graphs} |
2443 |
2437 |
2444 \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_graph} |
2438 \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_graph} |
|
2439 |
|
2440 %------------------------------------------------------------------------------ |
|
2441 |
|
2442 \subsection{Setting Ethernet-over-EtherCAT IP Parameters} |
|
2443 |
|
2444 \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_ip} |
2445 |
2445 |
2446 %------------------------------------------------------------------------------ |
2446 %------------------------------------------------------------------------------ |
2447 |
2447 |
2448 \subsection{Master and Ethernet Devices} |
2448 \subsection{Master and Ethernet Devices} |
2449 |
2449 |