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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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

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

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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

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

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 *

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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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;

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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;

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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 offset: %s\n",

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                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 offset: %s\n",

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