lib/domain.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Tue, 12 Apr 2016 11:17:36 +0200
branchstable-1.5
changeset 2654 b3f6b3e5ef29
parent 2504 5ef9d5b14879
permissions -rw-r--r--
devices/ccat: revert "limit rx processing to one frame per poll"

revert "limit rx processing to one frame per poll", which caused etherlab
frame timeouts in setups with more than one frame per cycle.
/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT master userspace library.
 *
 *  The IgH EtherCAT master userspace library is free software; you can
 *  redistribute it and/or modify it under the terms of the GNU Lesser General
 *  Public License as published by the Free Software Foundation; version 2.1
 *  of the License.
 *
 *  The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with the IgH EtherCAT master userspace library. If not, see
 *  <http://www.gnu.org/licenses/>.
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *****************************************************************************/

/**
   \file
   EtherCAT domain methods.
*/

/*****************************************************************************/

#include <stdio.h>
#include <string.h>
#include <errno.h> /* ENOENT */

#include "ioctl.h"
#include "domain.h"
#include "master.h"

/*****************************************************************************/

void ec_domain_clear(ec_domain_t *domain)
{
    // nothing to do
}

/*****************************************************************************/

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 -ENOENT;

        if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
                        reg->subindex, domain, reg->bit_position)) < 0)
            return ret;

        *reg->offset = ret;
    }

    return 0;
}

/*****************************************************************************/

size_t ecrt_domain_size(const ec_domain_t *domain)
{
    int ret;

    ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_SIZE, domain->index);
    if (EC_IOCTL_IS_ERROR(ret)) {
        fprintf(stderr, "Failed to get domain size: %s\n",
                strerror(EC_IOCTL_ERRNO(ret)));
    }

    return ret;
}

/*****************************************************************************/

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 (EC_IOCTL_IS_ERROR(offset)) {
            fprintf(stderr, "Failed to get domain offset: %s\n",
                    strerror(EC_IOCTL_ERRNO(offset)));
            return NULL;
        }

        domain->process_data = domain->master->process_data + offset;
    }

    return domain->process_data;
}

/*****************************************************************************/

void ecrt_domain_process(ec_domain_t *domain)
{
    int ret;

    ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS, domain->index);
    if (EC_IOCTL_IS_ERROR(ret)) {
        fprintf(stderr, "Failed to process domain: %s\n",
                strerror(EC_IOCTL_ERRNO(ret)));
    }
}

/*****************************************************************************/

void ecrt_domain_queue(ec_domain_t *domain)
{
    int ret;

    ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE, domain->index);
    if (EC_IOCTL_IS_ERROR(ret)) {
        fprintf(stderr, "Failed to queue domain: %s\n",
                strerror(EC_IOCTL_ERRNO(ret)));
    }
}

/*****************************************************************************/

void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
{
    ec_ioctl_domain_state_t data;
    int ret;

    data.domain_index = domain->index;
    data.state = state;

    ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data);
    if (EC_IOCTL_IS_ERROR(ret)) {
        fprintf(stderr, "Failed to get domain state: %s\n",
                strerror(EC_IOCTL_ERRNO(ret)));
    }
}

/*****************************************************************************/