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/****************************************************************
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*
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* e c _ m a s t e r . h
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*
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* Struktur für einen EtherCAT-Master.
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*
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* $Date$
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* $Author$
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*
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***************************************************************/
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#ifndef _EC_MASTER_H_
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#define _EC_MASTER_H_
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#include "ec_device.h"
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#include "ec_slave.h"
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#include "ec_command.h"
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/***************************************************************/
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/**
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EtherCAT-Master
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Verwaltet die EtherCAT-Slaves und kommuniziert mit
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dem zugewiesenen EtherCAT-Gerät.
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*/
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typedef struct
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{
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EtherCAT_slave_t *slaves; /**< Zeiger auf statischen Speicher
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mit Slave-Informationen */
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unsigned int slave_count; /**< Anzahl der Slaves in slaves */
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EtherCAT_command_t *first_command; /**< Zeiger auf das erste
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Kommando in der Liste */
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EtherCAT_command_t *process_data_command; /**< Zeiger Auf das Kommando
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zum Senden und Empfangen
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der Prozessdaten */
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EtherCAT_device_t *dev; /**< Zeiger auf das zugewiesene EtherCAT-Gerät */
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unsigned char command_index; /**< Aktueller Kommando-Index */
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unsigned char tx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statischer Speicher
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für zu sendende Daten */
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unsigned int tx_data_length; /**< Länge der Daten im Sendespeicher */
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unsigned char rx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statische Speicher für
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eine Kopie des Rx-Buffers
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im EtherCAT-Gerät */
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unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
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unsigned int process_data_length; /**< Länge der Prozessdaten */
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EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /** Statischer Kommandoring */
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unsigned int cmd_ring_index; /**< Index des nächsten Kommandos im Ring */
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}
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EtherCAT_master_t;
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/***************************************************************/
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// Master creation and deletion
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int EtherCAT_master_init(EtherCAT_master_t *, EtherCAT_device_t *);
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void EtherCAT_master_clear(EtherCAT_master_t *);
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// Slave management
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int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
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void EtherCAT_clear_slaves(EtherCAT_master_t *);
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int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
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int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
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int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
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int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
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// Sending and receiving
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int EtherCAT_async_send_receive(EtherCAT_master_t *);
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int EtherCAT_send(EtherCAT_master_t *);
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int EtherCAT_receive(EtherCAT_master_t *);
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int EtherCAT_write_process_data(EtherCAT_master_t *);
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int EtherCAT_read_process_data(EtherCAT_master_t *);
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/***************************************************************/
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// Slave information interface
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int EtherCAT_read_slave_information(EtherCAT_master_t *,
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unsigned short int,
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unsigned short int,
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unsigned int *);
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// EtherCAT commands
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EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
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unsigned short,
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unsigned short,
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unsigned int);
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EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
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unsigned short,
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unsigned short,
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unsigned int,
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const unsigned char *);
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EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
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short,
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unsigned short,
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unsigned int);
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EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
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short,
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unsigned short,
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unsigned int,
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const unsigned char *);
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EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
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unsigned short,
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unsigned int);
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EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
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unsigned short,
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unsigned int,
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const unsigned char *);
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EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
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unsigned int,
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unsigned int,
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unsigned char *);
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void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
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// Slave states
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int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
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/***************************************************************/
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// Private functions
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EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *);
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void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
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void set_byte(unsigned char *, unsigned int, unsigned char);
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void set_word(unsigned char *, unsigned int, unsigned int);
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/***************************************************************/
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#endif
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