1 /******************************************************************************

     2  *

     3  *  $Id$

     4  *

     5  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6  *

     7  *  This file is part of the IgH EtherCAT Master.

     8  *

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

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

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

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

    13  *

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

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

    16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17  *  GNU General Public License for more details.

    18  *

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

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

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

    22  *

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

    24  *  charge under condition of compatibility of product made by

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

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

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

    28  *  EtherCAT specification (which are released themselves as an open

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

    30  *  Technology, IP and trade marks.

    31  *

    32  *****************************************************************************/

    33 

    34 /**

    35    \file

    36    EtherCAT DUMMY domain methods.

    37 */

    38 

    39 /*****************************************************************************/

    40 

    41 #include "../master/globals.h"

    42 #include "../master/domain.h"

    43 #include "../master/master.h"

    44 

    45 /*****************************************************************************/

    46 

    47 uint8_t dummy_data[PAGE_SIZE];

    48 

    49 /*****************************************************************************/

    50 

    51 /** \cond */

    52 

    53 int ecrt_domain_register_pdo(

    54         ec_domain_t *domain, /**< EtherCAT domain */

    55         ec_slave_t *slave, /**< EtherCAT slave */

    56         uint16_t pdo_entry_index, /**< PDO entry index */

    57         uint8_t pdo_entry_subindex, /**< PDO entry subindex */

    58         void **data_ptr /**< address of the process data pointer */

    59         )

    60 {

    61 	*data_ptr = dummy_data;

    62 	return 0;

    63 }

    64 

    65 /*****************************************************************************/

    66 

    67 /**

    68  * Registers a bunch of data fields.

    69  * \attention The list has to be terminated with a NULL structure ({})!

    70  * \return 0 in case of success, else < 0

    71  * \ingroup RealtimeInterface

    72  */

    73 

    74 int ecrt_domain_register_pdo_list(

    75         ec_domain_t *domain, /**< EtherCAT domain */

    76         const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */

    77         )

    78 {

    79     const ec_pdo_reg_t *reg;

    80     

    81     for (reg = pdo_regs; reg->slave_address; reg++) {

    82 		*(reg->data_ptr) = dummy_data;

    83     }

    84 

    85     return 0;

    86 }

    87 

    88 /*****************************************************************************/

    89 

    90 /**

    91  * Registers a PDO range in a domain.

    92  * \return 0 on success, else non-zero

    93  * \ingroup RealtimeInterface

    94  */

    95 

    96 int ecrt_domain_register_pdo_range(

    97         ec_domain_t *domain, /**< EtherCAT domain */

    98         ec_slave_t *slave, /**< EtherCAT slave */

    99         ec_direction_t dir, /**< data direction */

   100         uint16_t offset, /**< offset in slave's PDO range */

   101         uint16_t length, /**< length of this range */

   102         void **data_ptr /**< address of the process data pointer */

   103         )

   104 {

   105 	*data_ptr = dummy_data;

   106     return 0;

   107 }

   108 

   109 /*****************************************************************************/

   110 

   111 /**

   112    Processes received process data and requeues the domain datagram(s).

   113    \ingroup RealtimeInterface

   114 */

   115 

   116 void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)

   117 {

   118 }

   119 

   120 /*****************************************************************************/

   121 

   122 /**

   123    Places all process data datagrams in the masters datagram queue.

   124    \ingroup RealtimeInterface

   125 */

   126 

   127 void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)

   128 {

   129 }

   130 

   131 /*****************************************************************************/

   132 

   133 /**

   134    Returns the state of a domain.

   135    \return 0 if all datagrams were received, else -1.

   136    \ingroup RealtimeInterface

   137 */

   138 

   139 int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)

   140 {

   141     return 0;

   142 }

   143 

   144 /*****************************************************************************/

   145 

   146 /** \cond */

   147 

   148 EXPORT_SYMBOL(ecrt_domain_register_pdo);

   149 EXPORT_SYMBOL(ecrt_domain_register_pdo_list);

   150 EXPORT_SYMBOL(ecrt_domain_register_pdo_range);

   151 EXPORT_SYMBOL(ecrt_domain_process);

   152 EXPORT_SYMBOL(ecrt_domain_queue);

   153 EXPORT_SYMBOL(ecrt_domain_state);

   154 

   155 /** \endcond */

   156 

   157 /*****************************************************************************/