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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 /** |
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35 \file |
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36 EtherCAT domain methods. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #include "domain.h" |
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42 |
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43 /*****************************************************************************/ |
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44 |
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45 int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain, |
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46 const ec_pdo_entry_reg_t *regs) |
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47 { |
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48 const ec_pdo_entry_reg_t *reg; |
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49 ec_slave_config_t *sc; |
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50 int ret; |
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51 |
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52 for (reg = regs; reg->index; reg++) { |
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53 if (!(sc = ecrt_master_slave_config(domain->master, reg->alias, |
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54 reg->position, reg->vendor_id, reg->product_code))) |
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55 return -1; |
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56 |
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57 if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, |
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58 reg->subindex, domain, reg->bit_position)) < 0) |
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59 return -1; |
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60 |
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61 *reg->offset = ret; |
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62 } |
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63 |
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64 return 0; |
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65 } |
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66 |
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67 /*****************************************************************************/ |
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68 |
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69 size_t ecrt_domain_size(ec_domain_t *domain) |
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70 { |
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71 return 0; |
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72 } |
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73 |
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74 /*****************************************************************************/ |
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75 |
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76 uint8_t *ecrt_domain_data(ec_domain_t *domain) |
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77 { |
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78 return 0; |
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79 } |
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80 |
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81 /*****************************************************************************/ |
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82 |
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83 void ecrt_domain_process(ec_domain_t *domain) |
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84 { |
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85 } |
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86 |
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87 /*****************************************************************************/ |
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88 |
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89 void ecrt_domain_queue(ec_domain_t *domain) |
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90 { |
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91 } |
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92 |
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93 /*****************************************************************************/ |
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94 |
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95 void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state) |
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96 { |
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97 } |
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98 |
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99 /*****************************************************************************/ |