| author | Florian Pose <fp@igh-essen.com> |
| Fri, 28 Oct 2005 15:12:27 +0000 | |
| changeset 2 | b0a7a4745bf9 |
| parent 0 | 05c992bf5847 |
| child 11 | e58d78234412 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/**************************************************************** |
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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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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
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EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /**< Statischer Kommandoring */ |
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b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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int cmd_reserved[ECAT_COMMAND_RING_SIZE]; /**< Reservierungsflags für die Kommandos */ |
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unsigned int cmd_ring_index; /**< Index des nächsten Kommandos im Ring */ |
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
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b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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int debug_level; /**< Debug-Level im Master-Code */ |
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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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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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void EtherCAT_clear_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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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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int 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 |