author | Florian Pose <fp@igh-essen.com> |
Thu, 09 Oct 2008 14:35:08 +0000 | |
changeset 1256 | 45fe0af4340b |
parent 1255 | 38b7e05b20c1 |
child 1257 | 9844ac126275 |
permissions | -rw-r--r-- |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1 |
/****************************************************************************** |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3 |
* $Id$ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
5 |
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
6 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
7 |
* This file is part of the IgH EtherCAT Master. |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
8 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
10 |
* and/or modify it under the terms of the GNU General Public License |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
11 |
* as published by the Free Software Foundation; either version 2 of the |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
12 |
* License, or (at your option) any later version. |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
13 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
14 |
* The IgH EtherCAT Master is distributed in the hope that it will be |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
15 |
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
16 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
17 |
* GNU General Public License for more details. |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
18 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
19 |
* You should have received a copy of the GNU General Public License |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
20 |
* along with the IgH EtherCAT Master; if not, write to the Free Software |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
21 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
22 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
23 |
* The right to use EtherCAT Technology is granted and comes free of |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
24 |
* charge under condition of compatibility of product made by |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
25 |
* Licensee. People intending to distribute/sell products based on the |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
26 |
* code, have to sign an agreement to guarantee that products using |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
27 |
* software based on IgH EtherCAT master stay compatible with the actual |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
28 |
* EtherCAT specification (which are released themselves as an open |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
29 |
* standard) as the (only) precondition to have the right to use EtherCAT |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
30 |
* Technology, IP and trade marks. |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
31 |
* |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
32 |
*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
33 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
34 |
/** |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
35 |
\file |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
36 |
EtherCAT domain methods. |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
37 |
*/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
38 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
39 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
40 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
41 |
#include "domain.h" |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
42 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
43 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
44 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
45 |
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
46 |
const ec_pdo_entry_reg_t *regs) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
47 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
48 |
const ec_pdo_entry_reg_t *reg; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
49 |
ec_slave_config_t *sc; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
50 |
int ret; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
51 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
52 |
for (reg = regs; reg->index; reg++) { |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
53 |
if (!(sc = ecrt_master_slave_config(domain->master, reg->alias, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
54 |
reg->position, reg->vendor_id, reg->product_code))) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
55 |
return -1; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
56 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
57 |
if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
58 |
reg->subindex, domain, reg->bit_position)) < 0) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
59 |
return -1; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
60 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
61 |
*reg->offset = ret; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
62 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
63 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
64 |
return 0; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
65 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
66 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
67 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
68 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
69 |
size_t ecrt_domain_size(ec_domain_t *domain) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
70 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
71 |
return 0; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
72 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
73 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
74 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
75 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
76 |
uint8_t *ecrt_domain_data(ec_domain_t *domain) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
77 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
78 |
return 0; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
79 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
80 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
81 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
82 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
83 |
void ecrt_domain_process(ec_domain_t *domain) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
84 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
85 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
86 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
87 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
88 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
89 |
void ecrt_domain_queue(ec_domain_t *domain) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
90 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
91 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
92 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
93 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
94 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
95 |
void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
96 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
97 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
98 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
99 |
/*****************************************************************************/ |