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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 #include <stdlib.h> |
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35 #include <sys/ioctl.h> |
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36 #include <stdio.h> |
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37 #include <errno.h> |
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38 #include <string.h> |
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39 |
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40 #include "master.h" |
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41 #include "domain.h" |
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42 #include "master/ioctl.h" |
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43 |
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44 /*****************************************************************************/ |
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45 |
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46 ec_domain_t *ecrt_master_create_domain(ec_master_t *master) |
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47 { |
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48 ec_domain_t *domain; |
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49 int index; |
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50 |
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51 domain = malloc(sizeof(ec_domain_t)); |
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52 if (!domain) { |
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53 fprintf(stderr, "Failed to allocate memory.\n"); |
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54 return 0; |
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55 } |
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56 |
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57 index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL); |
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58 if (index == -1) { |
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59 fprintf(stderr, "Failed to create domain: %s\n", strerror(errno)); |
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60 free(domain); |
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61 return 0; |
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62 } |
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63 |
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64 domain->index = (unsigned int) index; |
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65 return domain; |
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66 } |
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67 |
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68 /*****************************************************************************/ |
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69 |
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70 ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, |
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71 uint16_t alias, uint16_t position, uint32_t vendor_id, |
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72 uint32_t product_code) |
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73 { |
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74 return 0; |
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75 } |
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76 |
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77 /*****************************************************************************/ |
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78 |
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79 int ecrt_master_activate(ec_master_t *master) |
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80 { |
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81 return 0; |
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82 } |
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83 |
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84 /*****************************************************************************/ |
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85 |
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86 void ecrt_master_send(ec_master_t *master) |
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87 { |
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88 } |
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89 |
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90 /*****************************************************************************/ |
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91 |
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92 void ecrt_master_receive(ec_master_t *master) |
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93 { |
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94 } |
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95 |
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96 /*****************************************************************************/ |
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97 |
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98 void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state) |
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99 { |
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100 } |
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101 |
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102 |
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103 /*****************************************************************************/ |