1 //---------------------------------------------------------------

     2 //

     3 //  e c _ m a s t e r . h

     4 //

     5 //  $LastChangedDate$

     6 //  $Author$

     7 //

     8 //---------------------------------------------------------------

     9 

    10 #include <pcap.h>

    11 #include <libnet.h>

    12 #include <pthread.h>

    13 

    14 #include "ec_slave.h"

    15 #include "ec_command.h"

    16 

    17 //---------------------------------------------------------------

    18 

    19 typedef struct

    20 {

    21   EtherCAT_slave_t *slaves; // Slaves array

    22   unsigned int slave_count; // Number of slaves

    23 

    24   EtherCAT_command_t *first_command; // List of commands

    25 

    26   pcap_t *pcap_handle;  // Handle for libpcap

    27   libnet_t *net_handle; // Handle for libnet

    28 

    29   unsigned char command_index; // Current command index

    30 

    31   unsigned char *process_data;

    32   unsigned int process_data_length;

    33   void (*pre_cb)(unsigned char *);

    34   void (*post_cb)(unsigned char *);

    35   pthread_t thread;

    36   int thread_continue;

    37   unsigned int cycle_time;

    38 

    39   double bus_time;

    40 

    41   double last_jitter;

    42   double last_cycle_time;

    43   double last_cycle_work_time;

    44   double last_cycle_busy_rate;

    45 }

    46 EtherCAT_master_t;

    47 

    48 //---------------------------------------------------------------

    49 

    50 // Master creation and deletion

    51 int EtherCAT_master_init(EtherCAT_master_t *, char *);

    52 void EtherCAT_master_clear(EtherCAT_master_t *);

    53 

    54 // Checking for slaves

    55 int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);

    56 void EtherCAT_clear_slaves(EtherCAT_master_t *);

    57 

    58 // Slave information interface

    59 int EtherCAT_read_slave_information(EtherCAT_master_t *,

    60                                     unsigned short int,

    61                                     unsigned short int,

    62                                     unsigned int *);

    63 

    64 // EtherCAT commands

    65 EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,

    66                                   unsigned short,

    67                                   unsigned short,

    68                                   unsigned int);

    69 EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,

    70                                    unsigned short,

    71                                    unsigned short,

    72                                    unsigned int,

    73                                    const unsigned char *);

    74 EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,

    75                                            short,

    76                                            unsigned short,

    77                                            unsigned int);

    78 EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,

    79                                             short,

    80                                             unsigned short,

    81                                             unsigned int,

    82                                             const unsigned char *);

    83 EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,

    84                                             unsigned short,

    85                                             unsigned int);

    86 EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,

    87                                              unsigned short,

    88                                              unsigned int,

    89                                              const unsigned char *);

    90 EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,

    91                                                 unsigned int,

    92                                                 unsigned int,

    93                                                 unsigned char *);

    94 

    95 void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);

    96 

    97 // Slave states

    98 int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);

    99 int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);

   100 

   101 int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);

   102 int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);

   103 

   104 // Sending and receiving

   105 int EtherCAT_send_receive(EtherCAT_master_t *);

   106 

   107 int EtherCAT_start(EtherCAT_master_t *,

   108                    unsigned int,

   109                    void (*)(unsigned char *),

   110                    void (*)(unsigned char *),

   111                    unsigned int);

   112 int EtherCAT_stop(EtherCAT_master_t *);

   113 

   114 // Private functions

   115 void add_command(EtherCAT_master_t *, EtherCAT_command_t *);

   116 void set_byte(unsigned char *, unsigned int, unsigned char);

   117 void set_word(unsigned char *, unsigned int, unsigned int);

   118 void *thread_function(void *);

   119 

   120 //---------------------------------------------------------------