fp@0: //---------------------------------------------------------------
fp@0: //
fp@0: //  e c _ m a s t e r . h
fp@0: //
fp@0: //  $LastChangedDate$
fp@0: //  $Author$
fp@0: //
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: #include <pcap.h>
fp@0: #include <libnet.h>
fp@0: #include <pthread.h>
fp@0: 
fp@0: #include "ec_slave.h"
fp@0: #include "ec_command.h"
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: typedef struct
fp@0: {
fp@0:   EtherCAT_slave_t *slaves; // Slaves array
fp@0:   unsigned int slave_count; // Number of slaves
fp@0: 
fp@0:   EtherCAT_command_t *first_command; // List of commands
fp@0: 
fp@0:   pcap_t *pcap_handle;  // Handle for libpcap
fp@0:   libnet_t *net_handle; // Handle for libnet
fp@0: 
fp@0:   unsigned char command_index; // Current command index
fp@0: 
fp@0:   unsigned char *process_data;
fp@0:   unsigned int process_data_length;
fp@0:   void (*pre_cb)(unsigned char *);
fp@0:   void (*post_cb)(unsigned char *);
fp@0:   pthread_t thread;
fp@0:   int thread_continue;
fp@0:   unsigned int cycle_time;
fp@0: 
fp@0:   double bus_time;
fp@0: 
fp@0:   double last_jitter;
fp@0:   double last_cycle_time;
fp@0:   double last_cycle_work_time;
fp@0:   double last_cycle_busy_rate;
fp@0: }
fp@0: EtherCAT_master_t;
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: // Master creation and deletion
fp@0: int EtherCAT_master_init(EtherCAT_master_t *, char *);
fp@0: void EtherCAT_master_clear(EtherCAT_master_t *);
fp@0: 
fp@0: // Checking for slaves
fp@0: int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
fp@0: void EtherCAT_clear_slaves(EtherCAT_master_t *);
fp@0: 
fp@0: // Slave information interface
fp@0: int EtherCAT_read_slave_information(EtherCAT_master_t *,
fp@0:                                     unsigned short int,
fp@0:                                     unsigned short int,
fp@0:                                     unsigned int *);
fp@0: 
fp@0: // EtherCAT commands
fp@0: EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
fp@0:                                   unsigned short,
fp@0:                                   unsigned short,
fp@0:                                   unsigned int);
fp@0: EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
fp@0:                                    unsigned short,
fp@0:                                    unsigned short,
fp@0:                                    unsigned int,
fp@0:                                    const unsigned char *);
fp@0: EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
fp@0:                                            short,
fp@0:                                            unsigned short,
fp@0:                                            unsigned int);
fp@0: EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
fp@0:                                             short,
fp@0:                                             unsigned short,
fp@0:                                             unsigned int,
fp@0:                                             const unsigned char *);
fp@0: EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
fp@0:                                             unsigned short,
fp@0:                                             unsigned int);
fp@0: EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
fp@0:                                              unsigned short,
fp@0:                                              unsigned int,
fp@0:                                              const unsigned char *);
fp@0: EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
fp@0:                                                 unsigned int,
fp@0:                                                 unsigned int,
fp@0:                                                 unsigned char *);
fp@0: 
fp@0: void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
fp@0: 
fp@0: // Slave states
fp@0: int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
fp@0: int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);
fp@0: 
fp@0: int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
fp@0: int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
fp@0: 
fp@0: // Sending and receiving
fp@0: int EtherCAT_send_receive(EtherCAT_master_t *);
fp@0: 
fp@0: int EtherCAT_start(EtherCAT_master_t *,
fp@0:                    unsigned int,
fp@0:                    void (*)(unsigned char *),
fp@0:                    void (*)(unsigned char *),
fp@0:                    unsigned int);
fp@0: int EtherCAT_stop(EtherCAT_master_t *);
fp@0: 
fp@0: // Private functions
fp@0: void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
fp@0: void set_byte(unsigned char *, unsigned int, unsigned char);
fp@0: void set_word(unsigned char *, unsigned int, unsigned int);
fp@0: void *thread_function(void *);
fp@0: 
fp@0: //---------------------------------------------------------------