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 DUMMY 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 "../master/globals.h" |
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42 #include "../master/domain.h" |
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43 #include "../master/master.h" |
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44 |
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45 uint8_t *get_dummy_data(void); |
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46 |
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47 /*****************************************************************************/ |
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48 |
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49 /** \cond */ |
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50 |
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51 int ecrt_domain_register_pdo( |
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52 ec_domain_t *domain, /**< EtherCAT domain */ |
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53 ec_slave_t *slave, /**< EtherCAT slave */ |
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54 uint16_t pdo_entry_index, /**< PDO entry index */ |
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55 uint8_t pdo_entry_subindex, /**< PDO entry subindex */ |
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56 void **data_ptr /**< address of the process data pointer */ |
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57 ) |
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58 { |
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59 *data_ptr = get_dummy_data(); |
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60 return 0; |
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61 } |
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62 |
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63 /*****************************************************************************/ |
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64 |
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65 /** |
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66 * Registers a bunch of data fields. |
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67 * \attention The list has to be terminated with a NULL structure ({})! |
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68 * \return 0 in case of success, else < 0 |
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69 * \ingroup RealtimeInterface |
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70 */ |
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71 |
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72 int ecrt_domain_register_pdo_list( |
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73 ec_domain_t *domain, /**< EtherCAT domain */ |
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74 const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */ |
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75 ) |
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76 { |
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77 const ec_pdo_reg_t *reg; |
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78 |
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79 for (reg = pdo_regs; reg->slave_address; reg++) { |
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80 *(reg->data_ptr) = get_dummy_data(); |
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81 } |
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82 |
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83 return 0; |
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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 * Registers a PDO range in a domain. |
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90 * \return 0 on success, else non-zero |
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91 * \ingroup RealtimeInterface |
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92 */ |
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93 |
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94 int ecrt_domain_register_pdo_range( |
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95 ec_domain_t *domain, /**< EtherCAT domain */ |
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96 ec_slave_t *slave, /**< EtherCAT slave */ |
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97 ec_direction_t dir, /**< data direction */ |
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98 uint16_t offset, /**< offset in slave's PDO range */ |
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99 uint16_t length, /**< length of this range */ |
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100 void **data_ptr /**< address of the process data pointer */ |
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101 ) |
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102 { |
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103 *data_ptr = get_dummy_data(); |
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104 return 0; |
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105 } |
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106 |
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107 /*****************************************************************************/ |
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108 |
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109 /** |
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110 Processes received process data and requeues the domain datagram(s). |
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111 \ingroup RealtimeInterface |
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112 */ |
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113 |
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114 void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */) |
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115 { |
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116 } |
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117 |
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118 /*****************************************************************************/ |
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119 |
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120 /** |
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121 Places all process data datagrams in the masters datagram queue. |
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122 \ingroup RealtimeInterface |
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123 */ |
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124 |
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125 void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */) |
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126 { |
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127 } |
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128 |
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129 /*****************************************************************************/ |
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130 |
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131 /** |
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132 Returns the state of a domain. |
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133 \return 0 if all datagrams were received, else -1. |
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134 \ingroup RealtimeInterface |
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135 */ |
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136 |
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137 int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */) |
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138 { |
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139 return 0; |
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140 } |
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141 |
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142 /*****************************************************************************/ |
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143 |
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144 /** \cond */ |
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145 |
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146 EXPORT_SYMBOL(ecrt_domain_register_pdo); |
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147 EXPORT_SYMBOL(ecrt_domain_register_pdo_list); |
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148 EXPORT_SYMBOL(ecrt_domain_register_pdo_range); |
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149 EXPORT_SYMBOL(ecrt_domain_process); |
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150 EXPORT_SYMBOL(ecrt_domain_queue); |
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151 EXPORT_SYMBOL(ecrt_domain_state); |
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152 |
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153 /** \endcond */ |
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154 |
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155 /*****************************************************************************/ |
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