Added e100 driver for 2.6.31.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2009 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 <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; // FIXME
if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
reg->subindex, domain, reg->bit_position)) < 0)
return -1; // FIXME
*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: %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: %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));
}
}
/*****************************************************************************/