fp@1255: /******************************************************************************
fp@1266:  *  
fp@1266:  * $Id$
fp@1266:  * 
fp@1266:  * Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1266:  * 
fp@1266:  * This file is part of the IgH EtherCAT master userspace library.
fp@1266:  * 
fp@1287:  * The IgH EtherCAT master userspace library is free software; you can
fp@1266:  * redistribute it and/or modify it under the terms of the GNU Lesser General
fp@1287:  * Public License as published by the Free Software Foundation; version 2.1 of
fp@1266:  * the License.
fp@1287:  *
fp@1266:  * The IgH EtherCAT master userspace library is distributed in the hope that
fp@1266:  * it will be useful, but WITHOUT ANY WARRANTY; without even the implied
fp@1266:  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1266:  * GNU Lesser General Public License for more details.
fp@1287:  *
fp@1266:  * You should have received a copy of the GNU Lesser General Public License
fp@1266:  * along with the IgH EtherCAT master userspace library. If not, see
fp@1266:  * <http://www.gnu.org/licenses/>.
fp@1266:  * 
fp@1266:  * The right to use EtherCAT Technology is granted and comes free of charge
fp@1266:  * under condition of compatibility of product made by Licensee. People
fp@1266:  * intending to distribute/sell products based on the code, have to sign an
fp@1266:  * agreement to guarantee that products using software based on IgH EtherCAT
fp@1266:  * master stay compatible with the actual EtherCAT specification (which are
fp@1266:  * released themselves as an open standard) as the (only) precondition to have
fp@1266:  * the right to use EtherCAT Technology, IP and trade marks.
fp@1255:  *
fp@1255:  *****************************************************************************/
fp@1255: 
fp@1255: /**
fp@1255:    \file
fp@1255:    EtherCAT domain methods.
fp@1255: */
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1258: #include <sys/ioctl.h>
fp@1258: #include <sys/mman.h>
fp@1258: #include <stdio.h>
fp@1258: #include <errno.h>
fp@1258: #include <string.h>
fp@1258: 
fp@1255: #include "domain.h"
fp@1258: #include "master.h"
fp@1258: #include "master/ioctl.h"
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
fp@1255:         const ec_pdo_entry_reg_t *regs)
fp@1255: {
fp@1255:     const ec_pdo_entry_reg_t *reg;
fp@1255:     ec_slave_config_t *sc;
fp@1255:     int ret;
fp@1255:     
fp@1255:     for (reg = regs; reg->index; reg++) {
fp@1255:         if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
fp@1255:                         reg->position, reg->vendor_id, reg->product_code)))
fp@1313:             return -1; // FIXME
fp@1255: 
fp@1255:         if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
fp@1255:                         reg->subindex, domain, reg->bit_position)) < 0)
fp@1313:             return -1; // FIXME
fp@1255: 
fp@1255:         *reg->offset = ret;
fp@1255:     }
fp@1255: 
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: uint8_t *ecrt_domain_data(ec_domain_t *domain)
fp@1255: {
fp@1258:     if (!domain->process_data) {
fp@1258:         int offset = 0;
fp@1258: 
fp@1258:         offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET,
fp@1258:                 domain->index);
fp@1258:         if (offset == -1) {
fp@1258:             fprintf(stderr, "Failed to get domain offset: %s\n",
fp@1258:                     strerror(errno));
fp@1258:             return NULL; 
fp@1258:         }
fp@1258:     
fp@1258:         domain->process_data = domain->master->process_data + offset;
fp@1258:     }
fp@1258: 
fp@1258:     return domain->process_data;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: void ecrt_domain_process(ec_domain_t *domain)
fp@1255: {
fp@1258:     if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS,
fp@1258:                 domain->index) == -1) {
fp@1313:         fprintf(stderr, "Failed to process domain: %s\n", strerror(errno));
fp@1258:     }
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: void ecrt_domain_queue(ec_domain_t *domain)
fp@1255: {
fp@1258:     if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE,
fp@1258:                 domain->index) == -1) {
fp@1313:         fprintf(stderr, "Failed to queue domain: %s\n", strerror(errno));
fp@1258:     }
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
fp@1255: {
fp@1259:     ec_ioctl_domain_state_t data;
fp@1259: 
fp@1259:     data.domain_index = domain->index;
fp@1259:     data.state = state;
fp@1259:     
fp@1259:     if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data) == -1) {
fp@1259:         fprintf(stderr, "Failed to get domain state: %s\n",
fp@1259:                 strerror(errno));
fp@1259:     }
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/