135 lines
3.9 KiB
C
135 lines
3.9 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT master userspace library.
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*
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* The IgH EtherCAT master userspace library is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Lesser General
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* Public License as published by the Free Software Foundation; version 2.1
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* of the License.
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*
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* The IgH EtherCAT master userspace library is distributed in the hope that
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with the IgH EtherCAT master userspace library. If not, see
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* <http://www.gnu.org/licenses/>.
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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 <stdio.h>
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#include <string.h>
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#include <errno.h> /* ENOENT */
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#include "ioctl.h"
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#include "domain.h"
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#include "master.h"
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/****************************************************************************/
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void ec_domain_clear(ec_domain_t *domain)
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{
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// nothing to do
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}
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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 -ENOENT;
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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 ret;
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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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size_t ecrt_domain_size(const ec_domain_t *domain)
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{
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int ret;
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ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_SIZE, domain->index);
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if (EC_IOCTL_IS_ERROR(ret)) {
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fprintf(stderr, "Failed to get domain size: %s\n",
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strerror(EC_IOCTL_ERRNO(ret)));
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}
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return ret;
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}
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/****************************************************************************/
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uint8_t *ecrt_domain_data(const ec_domain_t *domain)
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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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int ret;
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ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS, domain->index);
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if (EC_IOCTL_IS_ERROR(ret)) {
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fprintf(stderr, "Failed to process domain: %s\n",
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strerror(EC_IOCTL_ERRNO(ret)));
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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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int ret;
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ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE, domain->index);
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if (EC_IOCTL_IS_ERROR(ret)) {
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fprintf(stderr, "Failed to queue domain: %s\n",
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strerror(EC_IOCTL_ERRNO(ret)));
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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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ec_ioctl_domain_state_t data;
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int ret;
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data.domain_index = domain->index;
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data.state = state;
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ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data);
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if (EC_IOCTL_IS_ERROR(ret)) {
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fprintf(stderr, "Failed to get domain state: %s\n",
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strerror(EC_IOCTL_ERRNO(ret)));
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}
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}
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/****************************************************************************/
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