author | Florian Pose <fp@igh-essen.com> |
Tue, 28 Oct 2014 15:59:52 +0100 | |
branch | stable-1.5 |
changeset 2586 | 5b89b4e38cdc |
parent 2504 | 5ef9d5b14879 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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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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* 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 <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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|
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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(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 (EC_IOCTL_IS_ERROR(offset)) { |
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fprintf(stderr, "Failed to get domain offset: %s\n", |
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strerror(EC_IOCTL_ERRNO(offset))); |
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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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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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/*****************************************************************************/ |