author | Florian Pose <fp@igh-essen.com> |
Wed, 04 Jan 2012 12:30:30 +0100 | |
changeset 2183 | b784af1203a4 |
parent 2054 | 3417bbc4ad2f |
child 2589 | 2b9c78543663 |
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) 2006-2009 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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|
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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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unsigned int ecrt_domain_index(ec_domain_t *domain) |
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{ |
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return domain->index; |
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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 -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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/*****************************************************************************/ |
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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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|
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data.domain_index = domain->index; |
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data.state = state; |
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|
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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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|
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/*****************************************************************************/ |