158 lines
4.7 KiB
C
158 lines
4.7 KiB
C
/******************************************************************************
|
|
*
|
|
* $Id$
|
|
*
|
|
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
|
|
*
|
|
* This file is part of the IgH EtherCAT Master.
|
|
*
|
|
* The IgH EtherCAT Master is free software; you can redistribute it
|
|
* and/or modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation; either version 2 of the
|
|
* License, or (at your option) any later version.
|
|
*
|
|
* The IgH EtherCAT Master 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.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with the IgH EtherCAT Master; if not, write to the Free Software
|
|
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
*
|
|
* The right to use EtherCAT Technology is granted and comes free of
|
|
* charge under condition of compatibility of product made by
|
|
* Licensee. People intending to distribute/sell products based on the
|
|
* code, have to sign an agreement to guarantee that products using
|
|
* software based on IgH EtherCAT master stay compatible with the actual
|
|
* EtherCAT specification (which are released themselves as an open
|
|
* standard) as the (only) precondition to have the right to use EtherCAT
|
|
* Technology, IP and trade marks.
|
|
*
|
|
*****************************************************************************/
|
|
|
|
/**
|
|
\file
|
|
EtherCAT DUMMY domain methods.
|
|
*/
|
|
|
|
/*****************************************************************************/
|
|
|
|
#include "../master/globals.h"
|
|
#include "../master/domain.h"
|
|
#include "../master/master.h"
|
|
|
|
/*****************************************************************************/
|
|
|
|
uint8_t dummy_data[PAGE_SIZE];
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** \cond */
|
|
|
|
int ecrt_domain_register_pdo(
|
|
ec_domain_t *domain, /**< EtherCAT domain */
|
|
ec_slave_t *slave, /**< EtherCAT slave */
|
|
uint16_t pdo_entry_index, /**< PDO entry index */
|
|
uint8_t pdo_entry_subindex, /**< PDO entry subindex */
|
|
void **data_ptr /**< address of the process data pointer */
|
|
)
|
|
{
|
|
*data_ptr = dummy_data;
|
|
return 0;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/**
|
|
* Registers a bunch of data fields.
|
|
* \attention The list has to be terminated with a NULL structure ({})!
|
|
* \return 0 in case of success, else < 0
|
|
* \ingroup RealtimeInterface
|
|
*/
|
|
|
|
int ecrt_domain_register_pdo_list(
|
|
ec_domain_t *domain, /**< EtherCAT domain */
|
|
const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */
|
|
)
|
|
{
|
|
const ec_pdo_reg_t *reg;
|
|
|
|
for (reg = pdo_regs; reg->slave_address; reg++) {
|
|
*(reg->data_ptr) = dummy_data;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/**
|
|
* Registers a PDO range in a domain.
|
|
* \return 0 on success, else non-zero
|
|
* \ingroup RealtimeInterface
|
|
*/
|
|
|
|
int ecrt_domain_register_pdo_range(
|
|
ec_domain_t *domain, /**< EtherCAT domain */
|
|
ec_slave_t *slave, /**< EtherCAT slave */
|
|
ec_direction_t dir, /**< data direction */
|
|
uint16_t offset, /**< offset in slave's PDO range */
|
|
uint16_t length, /**< length of this range */
|
|
void **data_ptr /**< address of the process data pointer */
|
|
)
|
|
{
|
|
*data_ptr = dummy_data;
|
|
return 0;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/**
|
|
Processes received process data and requeues the domain datagram(s).
|
|
\ingroup RealtimeInterface
|
|
*/
|
|
|
|
void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
|
|
{
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/**
|
|
Places all process data datagrams in the masters datagram queue.
|
|
\ingroup RealtimeInterface
|
|
*/
|
|
|
|
void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
|
|
{
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/**
|
|
Returns the state of a domain.
|
|
\return 0 if all datagrams were received, else -1.
|
|
\ingroup RealtimeInterface
|
|
*/
|
|
|
|
int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** \cond */
|
|
|
|
EXPORT_SYMBOL(ecrt_domain_register_pdo);
|
|
EXPORT_SYMBOL(ecrt_domain_register_pdo_list);
|
|
EXPORT_SYMBOL(ecrt_domain_register_pdo_range);
|
|
EXPORT_SYMBOL(ecrt_domain_process);
|
|
EXPORT_SYMBOL(ecrt_domain_queue);
|
|
EXPORT_SYMBOL(ecrt_domain_state);
|
|
|
|
/** \endcond */
|
|
|
|
/*****************************************************************************/
|