125 lines
4.0 KiB
C
125 lines
4.0 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT domain methods.
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*/
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/*****************************************************************************/
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#include <sys/ioctl.h>
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#include <sys/mman.h>
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include "domain.h"
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#include "master.h"
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#include "master/ioctl.h"
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/*****************************************************************************/
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int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
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const ec_pdo_entry_reg_t *regs)
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{
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const ec_pdo_entry_reg_t *reg;
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ec_slave_config_t *sc;
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int ret;
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for (reg = regs; reg->index; reg++) {
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if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
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reg->position, reg->vendor_id, reg->product_code)))
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return -1;
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if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
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reg->subindex, domain, reg->bit_position)) < 0)
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return -1;
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*reg->offset = ret;
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}
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return 0;
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}
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/*****************************************************************************/
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uint8_t *ecrt_domain_data(ec_domain_t *domain)
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{
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if (!domain->process_data) {
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int offset = 0;
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offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET,
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domain->index);
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if (offset == -1) {
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fprintf(stderr, "Failed to get domain offset: %s\n",
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strerror(errno));
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return NULL;
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}
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domain->process_data = domain->master->process_data + offset;
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}
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return domain->process_data;
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}
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/*****************************************************************************/
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void ecrt_domain_process(ec_domain_t *domain)
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{
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if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS,
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domain->index) == -1) {
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fprintf(stderr, "Failed to process domain offset: %s\n",
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strerror(errno));
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}
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}
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/*****************************************************************************/
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void ecrt_domain_queue(ec_domain_t *domain)
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{
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if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE,
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domain->index) == -1) {
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fprintf(stderr, "Failed to queue domain offset: %s\n",
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strerror(errno));
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}
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}
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/*****************************************************************************/
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void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
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{
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}
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/*****************************************************************************/
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