1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT DUMMY domain methods.

    37

*/

    38

    39

/*****************************************************************************/

    40

    41

#include "../master/globals.h"

    42

#include "../master/domain.h"

    43

#include "../master/master.h"

    44

    46

    47

/*****************************************************************************/

    48

    49

/** \cond */

    50

    51

int ecrt_domain_register_pdo(

    52

        ec_domain_t *domain, /**< EtherCAT domain */

    53

        ec_slave_t *slave, /**< EtherCAT slave */

    54

        uint16_t pdo_entry_index, /**< PDO entry index */

    55

        uint8_t pdo_entry_subindex, /**< PDO entry subindex */

    56

        void **data_ptr /**< address of the process data pointer */

    57

        )

    58

{

    60

	return 0;

    61

}

    62

    63

/*****************************************************************************/

    64

    65

/**

    66

 * Registers a bunch of data fields.

    67

 * \attention The list has to be terminated with a NULL structure ({})!

    68

 * \return 0 in case of success, else < 0

    69

 * \ingroup RealtimeInterface

    70

 */

    71

    72

int ecrt_domain_register_pdo_list(

    73

        ec_domain_t *domain, /**< EtherCAT domain */

    74

        const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */

    75

        )

    76

{

    77

    const ec_pdo_reg_t *reg;

    78

    79

    for (reg = pdo_regs; reg->slave_address; reg++) {

    81

    }

    82

    83

    return 0;

    84

}

    85

    86

/*****************************************************************************/

    87

    88

/**

    89

 * Registers a PDO range in a domain.

    90

 * \return 0 on success, else non-zero

    91

 * \ingroup RealtimeInterface

    92

 */

    93

    94

int ecrt_domain_register_pdo_range(

    95

        ec_domain_t *domain, /**< EtherCAT domain */

    96

        ec_slave_t *slave, /**< EtherCAT slave */

    97

        ec_direction_t dir, /**< data direction */

    98

        uint16_t offset, /**< offset in slave's PDO range */

    99

        uint16_t length, /**< length of this range */

   100

        void **data_ptr /**< address of the process data pointer */

   101

        )

   102

{

   104

    return 0;

   105

}

   106

   107

/*****************************************************************************/

   108

   109

/**

   110

   Processes received process data and requeues the domain datagram(s).

   111

   \ingroup RealtimeInterface

   112

*/

   113

   114

void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)

   115

{

   116

}

   117

   118

/*****************************************************************************/

   119

   120

/**

   121

   Places all process data datagrams in the masters datagram queue.

   122

   \ingroup RealtimeInterface

   123

*/

   124

   125

void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)

   126

{

   127

}

   128

   129

/*****************************************************************************/

   130

   131

/**

   132

   Returns the state of a domain.

   133

   \return 0 if all datagrams were received, else -1.

   134

   \ingroup RealtimeInterface

   135

*/

   136

   137

int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)

   138

{

   139

    return 0;

   140

}

   141

   142

/*****************************************************************************/

   143

   144

/** \cond */

   145

   146

EXPORT_SYMBOL(ecrt_domain_register_pdo);

   147

EXPORT_SYMBOL(ecrt_domain_register_pdo_list);

   148

EXPORT_SYMBOL(ecrt_domain_register_pdo_range);

   149

EXPORT_SYMBOL(ecrt_domain_process);

   150

EXPORT_SYMBOL(ecrt_domain_queue);

   151

EXPORT_SYMBOL(ecrt_domain_state);

   152

   153

/** \endcond */

   154

   155

/*****************************************************************************/