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ethercat
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Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt.

This commit is contained in:
Florian Pose 2005-11-18 09:51:50 +00:00
parent 729f64b0fb
commit 0bd10ceee7
6 changed files with 231 additions and 1038 deletions
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1
drivers/ec_command.c
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@ -30,7 +30,6 @@ void EtherCAT_command_init(EtherCAT_command_t *cmd)
cmd->type = ECAT_CMD_NONE;
cmd->address.logical = 0x00000000;
cmd->data_length = 0;
//cmd->next = NULL;
cmd->state = ECAT_CS_READY;
cmd->index = 0;
cmd->working_counter = 0;

5
drivers/ec_command.h
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@ -69,11 +69,6 @@ typedef struct EtherCAT_command
EtherCAT_address_t address; /**< Adresse des/der Empfänger */
unsigned int data_length; /**< Länge der zu sendenden und/oder empfangenen Daten */
#if 0
struct EtherCAT_command *next; /**< (Für den Master) Zeiger auf nächstes Kommando
in der Liste */
#endif
EtherCAT_command_state_t state; /**< Zustand des Kommandos (bereit, gesendet, etc...) */
unsigned char index; /**< Kommando-Index, mit der das Kommando gesendet wurde (wird
vom Master beim Senden gesetzt. */

2
drivers/ec_device.c
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@ -17,6 +17,8 @@
#include "ec_device.h"
#include "ec_dbg.h"
extern void rtl8139_interrupt(int, void *, struct pt_regs *);
/***************************************************************/
/**

1176
drivers/ec_master.c
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File diff suppressed because it is too large Load Diff

83
drivers/ec_master.h
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@ -31,10 +31,6 @@ typedef struct
mit Slave-Informationen */
unsigned int slave_count; /**< Anzahl der Slaves in slaves */
#if 0
EtherCAT_command_t *first_command; /**< Zeiger auf das erste
Kommando in der Liste */
#endif
EtherCAT_command_t process_data_command; /**< Kommando zum Senden und
Empfangen der Prozessdaten */
@ -52,12 +48,6 @@ typedef struct
unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
unsigned int process_data_length; /**< Länge der Prozessdaten */
#if 0
EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /**< Statischer Kommandoring */
int cmd_reserved[ECAT_COMMAND_RING_SIZE]; /**< Reservierungsflags für die Kommandos */
unsigned int cmd_ring_index; /**< Index des nächsten Kommandos im Ring */
#endif
int debug_level; /**< Debug-Level im Master-Code */
}
EtherCAT_master_t;
@ -68,81 +58,30 @@ EtherCAT_master_t;
int EtherCAT_master_init(EtherCAT_master_t *, EtherCAT_device_t *);
void EtherCAT_master_clear(EtherCAT_master_t *);
// Slave management
int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
void EtherCAT_clear_slaves(EtherCAT_master_t *);
int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
// Sending and receiving
#if 0
int EtherCAT_async_send_receive(EtherCAT_master_t *);
int EtherCAT_send(EtherCAT_master_t *);
int EtherCAT_receive(EtherCAT_master_t *);
#endif
int EtherCAT_simple_send_receive(EtherCAT_master_t *, EtherCAT_command_t *);
int EtherCAT_simple_send(EtherCAT_master_t *, EtherCAT_command_t *);
int EtherCAT_simple_receive(EtherCAT_master_t *, EtherCAT_command_t *);
int EtherCAT_write_process_data(EtherCAT_master_t *);
int EtherCAT_read_process_data(EtherCAT_master_t *);
void EtherCAT_clear_process_data(EtherCAT_master_t *);
/***************************************************************/
// Slave information interface
// Slave management
int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
void EtherCAT_clear_slaves(EtherCAT_master_t *);
int EtherCAT_read_slave_information(EtherCAT_master_t *,
unsigned short int,
unsigned short int,
unsigned int *);
// EtherCAT commands
#if 0
EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
unsigned short,
unsigned short,
unsigned int);
EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
unsigned short,
unsigned short,
unsigned int,
const unsigned char *);
EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
short,
unsigned short,
unsigned int);
EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
short,
unsigned short,
unsigned int,
const unsigned char *);
EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
unsigned short,
unsigned int);
EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
unsigned short,
unsigned int,
const unsigned char *);
EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
unsigned int,
unsigned int,
unsigned char *);
void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
#endif
// Slave states
int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
/***************************************************************/
// Process data
int EtherCAT_write_process_data(EtherCAT_master_t *);
int EtherCAT_read_process_data(EtherCAT_master_t *);
void EtherCAT_clear_process_data(EtherCAT_master_t *);
// Private functions
#if 0
EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *);
int add_command(EtherCAT_master_t *, EtherCAT_command_t *);
#endif
void set_byte(unsigned char *, unsigned int, unsigned char);
void set_word(unsigned char *, unsigned int, unsigned int);
void output_debug_data(unsigned char *, unsigned int);