lib/domain.c
author convert-repo
Tue, 12 Jan 2010 20:53:46 +0000
changeset 1763 48c1f14b696b
parent 1363 11c0b2caa253
child 1959 656f114153c2
permissions -rw-r--r--
update tags
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/******************************************************************************
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 *  
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 *  $Id$
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 *  
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 *  Copyright (C) 2006-2009  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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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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; // FIXME
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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; // FIXME
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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: %s\n", 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: %s\n", 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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    ec_ioctl_domain_state_t data;
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    data.domain_index = domain->index;
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    data.state = state;
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    if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data) == -1) {
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        fprintf(stderr, "Failed to get domain state: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/