00001 // $Id: ethercat_AL.h,v 1.15 2006/02/20 15:57:33 kgad Exp $ 00002 //=========================================================================== 00003 // This file is part of "EtherCAT Master Library". 00004 // Copyright (C) 2005 FMTC vzw, Diamant Building, A. Reyerslaan 80, 00005 // B-1030 Brussels, Belgium. 00006 // 00007 // EtherCAT Master Library is free software; you can redistribute it 00008 // and/or modify it under the terms of the GNU General Public License 00009 // as published by the Free Software Foundation; either version 2 or 00010 // (at your option) any later version. 00011 // 00012 // EtherCAT Master Code is distributed in the hope that it will be 00013 // useful, but WITHOUT ANY WARRANTY; without even the implied 00014 // warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 00015 // PURPOSE. See the GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with the EtherCAT Master Library; if not, write to the Free 00019 // Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 00020 // 02111-1307 USA. 00021 // 00022 // EtherCAT, the EtherCAT trade name and logo are the intellectual 00023 // property of, and protected by Beckhoff. You can use "EtherCAT 00024 // Master Library" for creating and/or selling or otherwise 00025 // distributing an EtherCAT network master under the terms of the 00026 // EtherCAT Master License. 00027 // 00028 // You should have received a copy of the EtherCAT Master License 00029 // along with the EtherCAT Master Library; if not, write to Beckhoff 00030 // Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany. 00031 //=========================================================================== 00032 00033 #ifndef __ethercat_al__ 00034 #define __ethercat_al__ 00035 00036 #include "ros_ethercat_eml/ethercat_defs.h" 00037 00038 // forward declaration 00039 class EtherCAT_DataLinkLayer; 00040 class EtherCAT_SlaveHandler; 00041 class EtherCAT_SlaveDb; 00042 class EC_FixedStationAddress; 00043 00045 00048 inline uint16_t ringpos2adp(uint16_t ringpos) 00049 { 00050 return (uint16_t) (0x0000 - ringpos); 00051 } 00052 00054 00057 inline uint16_t adp2ringpos(uint16_t adp) 00058 { 00059 return (uint16_t) (0x0000 - adp); 00060 } 00061 00063 00066 class EC_Logic 00067 { 00068 public: 00070 static EC_Logic * instance(); 00072 uint8_t get_idx(); 00074 uint16_t get_wkc(); 00075 00077 EC_Logic(); 00079 static EC_Logic * m_instance; 00081 const uint16_t m_wkc; 00083 uint8_t m_idx; 00084 }; 00085 inline uint8_t EC_Logic::get_idx() 00086 { 00087 return m_idx++; 00088 } 00089 inline uint16_t EC_Logic::get_wkc() 00090 { 00091 return m_wkc; 00092 } 00093 00095 00096 class EtherCAT_AL 00097 { 00098 friend class EtherCAT_Router; 00099 00100 public: 00102 static EtherCAT_AL * instance(); 00103 00105 ~EtherCAT_AL(); 00106 00108 00113 EtherCAT_SlaveHandler * get_slave_handler(EC_FixedStationAddress station_address); 00114 00116 00118 unsigned int get_num_slaves() 00119 { 00120 return m_num_slaves; 00121 } 00122 00124 00127 bool isReady(); 00128 00129 protected: 00131 EtherCAT_AL(); 00132 00134 00138 bool init(void); 00139 00141 00145 bool scan_slaves(void); 00146 00148 00150 bool reset_slaves(void); 00151 00153 00155 bool put_slaves_in_init(void); 00156 00157 private: 00159 static EtherCAT_AL * m_instance; 00161 EtherCAT_DataLinkLayer * m_dll_instance; 00163 EC_Logic * m_logic_instance; 00164 00166 EtherCAT_SlaveHandler ** m_slave_handler; 00167 00169 EtherCAT_SlaveDb * m_slave_db; 00170 00172 00178 bool read_SII(uint16_t slave_adp, uint32_t address, unsigned char * a_buffer); 00179 00181 unsigned int m_num_slaves; 00182 00184 bool m_ready; 00185 }; 00186 00187 #endif