147 lines
4.6 KiB
C
147 lines
4.6 KiB
C
/*
|
|
/*
|
|
* Simple Open EtherCAT Master Library
|
|
*
|
|
* File : nicdrv.h
|
|
* Version : 1.3.1
|
|
* Date : 11-03-2015
|
|
* Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
|
|
* Copyright (C) 2005-2015 Arthur Ketels
|
|
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
|
|
* Copyright (C) 2012-2015 rt-labs AB , Sweden
|
|
*
|
|
* SOEM is free software; you can redistribute it and/or modify it under
|
|
* the terms of the GNU General Public License version 2 as published by the Free
|
|
* Software Foundation.
|
|
*
|
|
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
|
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* As a special exception, if other files instantiate templates or use macros
|
|
* or inline functions from this file, or you compile this file and link it
|
|
* with other works to produce a work based on this file, this file does not
|
|
* by itself cause the resulting work to be covered by the GNU General Public
|
|
* License. However the source code for this file must still be made available
|
|
* in accordance with section (3) of the GNU General Public License.
|
|
*
|
|
* This exception does not invalidate any other reasons why a work based on
|
|
* this file might be covered by the GNU General Public License.
|
|
*
|
|
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
|
|
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
|
|
* the sole purpose of creating, using and/or selling or otherwise distributing
|
|
* an EtherCAT network master provided that an EtherCAT Master License is obtained
|
|
* from Beckhoff Automation GmbH.
|
|
*
|
|
* In case you did not receive a copy of the EtherCAT Master License along with
|
|
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
|
|
* (www.beckhoff.com).
|
|
*/
|
|
|
|
/** \file
|
|
* \brief
|
|
* Headerfile for nicdrv.c
|
|
*/
|
|
|
|
#ifndef _nicdrvh_
|
|
#define _nicdrvh_
|
|
|
|
/** pointer structure to Tx and Rx stacks */
|
|
typedef struct
|
|
{
|
|
/** socket connection used */
|
|
int *sock;
|
|
/** tx buffer */
|
|
ec_bufT (*txbuf)[EC_MAXBUF];
|
|
/** tx buffer lengths */
|
|
int (*txbuflength)[EC_MAXBUF];
|
|
/** temporary receive buffer */
|
|
ec_bufT *tempbuf;
|
|
/** rx buffers */
|
|
ec_bufT (*rxbuf)[EC_MAXBUF];
|
|
/** rx buffer status fields */
|
|
int (*rxbufstat)[EC_MAXBUF];
|
|
/** received MAC source address (middle word) */
|
|
int (*rxsa)[EC_MAXBUF];
|
|
} ec_stackT;
|
|
|
|
/** pointer structure to buffers for redundant port */
|
|
typedef struct
|
|
{
|
|
ec_stackT stack;
|
|
int sockhandle;
|
|
/** rx buffers */
|
|
ec_bufT rxbuf[EC_MAXBUF];
|
|
/** rx buffer status */
|
|
int rxbufstat[EC_MAXBUF];
|
|
/** rx MAC source address */
|
|
int rxsa[EC_MAXBUF];
|
|
/** temporary rx buffer */
|
|
ec_bufT tempinbuf;
|
|
} ecx_redportt;
|
|
|
|
/** pointer structure to buffers, vars and mutexes for port instantiation */
|
|
typedef struct
|
|
{
|
|
ec_stackT stack;
|
|
int sockhandle;
|
|
/** rx buffers */
|
|
ec_bufT rxbuf[EC_MAXBUF];
|
|
/** rx buffer status */
|
|
int rxbufstat[EC_MAXBUF];
|
|
/** rx MAC source address */
|
|
int rxsa[EC_MAXBUF];
|
|
/** temporary rx buffer */
|
|
ec_bufT tempinbuf;
|
|
/** temporary rx buffer status */
|
|
int tempinbufs;
|
|
/** transmit buffers */
|
|
ec_bufT txbuf[EC_MAXBUF];
|
|
/** transmit buffer lenghts */
|
|
int txbuflength[EC_MAXBUF];
|
|
/** temporary tx buffer */
|
|
ec_bufT txbuf2;
|
|
/** temporary tx buffer length */
|
|
int txbuflength2;
|
|
/** last used frame index */
|
|
int lastidx;
|
|
/** current redundancy state */
|
|
int redstate;
|
|
/** pointer to redundancy port and buffers */
|
|
ecx_redportt *redport;
|
|
mtx_t * getindex_mutex;
|
|
mtx_t * tx_mutex;
|
|
mtx_t * rx_mutex;
|
|
} ecx_portt;
|
|
|
|
extern const uint16 priMAC[3];
|
|
extern const uint16 secMAC[3];
|
|
|
|
#ifdef EC_VER1
|
|
extern ecx_portt ecx_port;
|
|
extern ecx_redportt ecx_redport;
|
|
|
|
int ec_setupnic(const char * ifname, int secondary);
|
|
int ec_closenic(void);
|
|
void ec_setbufstat(int idx, int bufstat);
|
|
int ec_getindex(void);
|
|
int ec_outframe(int idx, int stacknumber);
|
|
int ec_outframe_red(int idx);
|
|
int ec_waitinframe(int idx, int timeout);
|
|
int ec_srconfirm(int idx,int timeout);
|
|
#endif
|
|
|
|
void ec_setupheader(void *p);
|
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
|
int ecx_closenic(ecx_portt *port);
|
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
|
int ecx_getindex(ecx_portt *port);
|
|
int ecx_outframe(ecx_portt *port, int idx, int stacknumber);
|
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
|
|
|
#endif
|