Replaced sleep() with pause().
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT domain methods.
*/
/*****************************************************************************/
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include "domain.h"
#include "master.h"
#include "master/ioctl.h"
/*****************************************************************************/
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
const ec_pdo_entry_reg_t *regs)
{
const ec_pdo_entry_reg_t *reg;
ec_slave_config_t *sc;
int ret;
for (reg = regs; reg->index; reg++) {
if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
reg->position, reg->vendor_id, reg->product_code)))
return -1;
if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
reg->subindex, domain, reg->bit_position)) < 0)
return -1;
*reg->offset = ret;
}
return 0;
}
/*****************************************************************************/
uint8_t *ecrt_domain_data(ec_domain_t *domain)
{
if (!domain->process_data) {
int offset = 0;
offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET,
domain->index);
if (offset == -1) {
fprintf(stderr, "Failed to get domain offset: %s\n",
strerror(errno));
return NULL;
}
domain->process_data = domain->master->process_data + offset;
}
return domain->process_data;
}
/*****************************************************************************/
void ecrt_domain_process(ec_domain_t *domain)
{
if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS,
domain->index) == -1) {
fprintf(stderr, "Failed to process domain offset: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
void ecrt_domain_queue(ec_domain_t *domain)
{
if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE,
domain->index) == -1) {
fprintf(stderr, "Failed to queue domain offset: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
{
ec_ioctl_domain_state_t data;
data.domain_index = domain->index;
data.state = state;
if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data) == -1) {
fprintf(stderr, "Failed to get domain state: %s\n",
strerror(errno));
}
}
/*****************************************************************************/