121 lines
4.3 KiB
C
121 lines
4.3 KiB
C
//---------------------------------------------------------------
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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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// $LastChangedDate$
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// $Author$
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//
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//---------------------------------------------------------------
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#include <pcap.h>
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#include <libnet.h>
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#include <pthread.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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typedef struct
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{
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EtherCAT_slave_t *slaves; // Slaves array
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unsigned int slave_count; // Number of slaves
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EtherCAT_command_t *first_command; // List of commands
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pcap_t *pcap_handle; // Handle for libpcap
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libnet_t *net_handle; // Handle for libnet
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unsigned char command_index; // Current command index
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unsigned char *process_data;
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unsigned int process_data_length;
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void (*pre_cb)(unsigned char *);
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void (*post_cb)(unsigned char *);
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pthread_t thread;
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int thread_continue;
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unsigned int cycle_time;
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double bus_time;
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double last_jitter;
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double last_cycle_time;
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double last_cycle_work_time;
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double last_cycle_busy_rate;
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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 *, char *);
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void EtherCAT_master_clear(EtherCAT_master_t *);
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// Checking for slaves
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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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// 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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int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);
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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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// Sending and receiving
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int EtherCAT_send_receive(EtherCAT_master_t *);
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int EtherCAT_start(EtherCAT_master_t *,
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unsigned int,
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void (*)(unsigned char *),
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void (*)(unsigned char *),
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unsigned int);
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int EtherCAT_stop(EtherCAT_master_t *);
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// Private functions
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void 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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void *thread_function(void *);
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//---------------------------------------------------------------
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