etherlabmaster: drivers/ec_master.h@c0405659a74a (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* e c _ m a s t e r . h
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Struktur für einen EtherCAT-Master.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	7	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	9	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	10
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#ifndef _EC_MASTER_H_
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	12	#define _EC_MASTER_H_
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	13
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include "ec_device.h"
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include "ec_slave.h"
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	16	#include "ec_command.h"
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	17	#include "ec_domain.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	18
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	19	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	20
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	21	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	22	EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	23
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	24	Verwaltet die EtherCAT-Slaves und kommuniziert mit
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	25	dem zugewiesenen EtherCAT-Gerät.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	26	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	27
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	28	struct EtherCAT_master
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	29	{
52 c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	30	EtherCAT_slave_t bus_slaves; /< Array von Slaves auf dem Bus /
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	31	unsigned int bus_slaves_count; /*< Anzahl Slaves auf dem Bus /
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	32	EtherCAT_device_t dev; /< Zeiger auf das zugewiesene EtherCAT-Gerät /
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33	unsigned char command_index; /*< Aktueller Kommando-Index /
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	34	unsigned char tx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statischer Speicher
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	35	für zu sendende Daten */
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	36	unsigned int tx_data_length; /*< Länge der Daten im Sendespeicher /
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	37	unsigned char rx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statische Speicher für
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	38	eine Kopie des Rx-Buffers
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	39	im EtherCAT-Gerät */
19 a51289e6cb2d Warten beim Empfangen der Prozessdaten, Bugfix und kleinere Verbesserungen. Florian Pose <fp@igh-essen.com> parents: 17 diff changeset	40	unsigned int rx_data_length; /*< Länge der Daten im Empfangsspeicher /
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	41	EtherCAT_domain_t domains[ECAT_MAX_DOMAINS]; /** Prozessdatendomänen */
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	42	unsigned int domain_count;
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	43	int debug_level; /*< Debug-Level im Master-Code /
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	44	unsigned int bus_time; /*< Letzte Bus-Zeit in Mikrosekunden /
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	45	unsigned int frames_lost; /*< Anzahl verlorene Frames /
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	46	unsigned long t_lost_output; /*<< Timer-Ticks bei der letzten Ausgabe von
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	47	verlorenen Frames */
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	48	};
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	49
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	50	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	51
52 c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	52	// Public methods
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	53
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	54	void EtherCAT_register_slave(EtherCAT_master_t , unsigned int,
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	55	const char , const char , unsigned int);
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	56	int EtherCAT_activate_slave(EtherCAT_master_t , EtherCAT_slave_t );
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	57	int EtherCAT_deactivate_slave(EtherCAT_master_t , EtherCAT_slave_t );
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	58	int EtherCAT_process_data_cycle(EtherCAT_master_t *, unsigned int,
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	59	unsigned int);
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	60
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	61	// Private Methods
c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	62
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	63	// Master creation and deletion
27 d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert. Florian Pose <fp@igh-essen.com> parents: 19 diff changeset	64	void EtherCAT_master_init(EtherCAT_master_t *);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	65	void EtherCAT_master_clear(EtherCAT_master_t *);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	66
27 d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert. Florian Pose <fp@igh-essen.com> parents: 19 diff changeset	67	// Registration of devices
33 f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber. Florian Pose <fp@igh-essen.com> parents: 27 diff changeset	68	int EtherCAT_master_open(EtherCAT_master_t , EtherCAT_device_t );
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber. Florian Pose <fp@igh-essen.com> parents: 27 diff changeset	69	void EtherCAT_master_close(EtherCAT_master_t , EtherCAT_device_t );
27 d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert. Florian Pose <fp@igh-essen.com> parents: 19 diff changeset	70
17 1b5aea4d5147 Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt. Florian Pose <fp@igh-essen.com> parents: 14 diff changeset	71	// Sending and receiving
1b5aea4d5147 Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt. Florian Pose <fp@igh-essen.com> parents: 14 diff changeset	72	int EtherCAT_simple_send_receive(EtherCAT_master_t , EtherCAT_command_t );
1b5aea4d5147 Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt. Florian Pose <fp@igh-essen.com> parents: 14 diff changeset	73	int EtherCAT_simple_send(EtherCAT_master_t , EtherCAT_command_t );
1b5aea4d5147 Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt. Florian Pose <fp@igh-essen.com> parents: 14 diff changeset	74	int EtherCAT_simple_receive(EtherCAT_master_t , EtherCAT_command_t );
1b5aea4d5147 Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt. Florian Pose <fp@igh-essen.com> parents: 14 diff changeset	75
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	76	// Slave management
52 c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	77	int EtherCAT_scan_for_slaves(EtherCAT_master_t *);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	78	int EtherCAT_read_slave_information(EtherCAT_master_t *, unsigned short int,
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	79	unsigned short int, unsigned int *);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	80	int EtherCAT_state_change(EtherCAT_master_t , EtherCAT_slave_t ,
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	81	unsigned char);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	82
52 c0405659a74a Neues Interface. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	83	// Misc.
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	84
19 a51289e6cb2d Warten beim Empfangen der Prozessdaten, Bugfix und kleinere Verbesserungen. Florian Pose <fp@igh-essen.com> parents: 17 diff changeset	85	void output_debug_data(const EtherCAT_master_t *);
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	86	void ecat_output_lost_frames(EtherCAT_master_t *);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	87
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	88	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	89
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	90	#endif
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	91
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	92	/* Emacs-Konfiguration
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	93	;;; Local Variables: ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	94	;;; c-basic-offset:2 ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	95	;;; End: ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	96	*/

author	Florian Pose <fp@igh-essen.com>
	Fri, 13 Jan 2006 15:39:38 +0000
changeset 52	c0405659a74a
parent 48	7e75772ea28c
permissions	-rw-r--r--