fp@665: /******************************************************************************
fp@665:  *
fp@665:  *  $Id$
fp@665:  *
fp@665:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@665:  *
fp@665:  *  This file is part of the IgH EtherCAT Master.
fp@665:  *
fp@665:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@665:  *  and/or modify it under the terms of the GNU General Public License
fp@665:  *  as published by the Free Software Foundation; either version 2 of the
fp@665:  *  License, or (at your option) any later version.
fp@665:  *
fp@665:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@665:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@665:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@665:  *  GNU General Public License for more details.
fp@665:  *
fp@665:  *  You should have received a copy of the GNU General Public License
fp@665:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@665:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@665:  *
fp@665:  *  The right to use EtherCAT Technology is granted and comes free of
fp@665:  *  charge under condition of compatibility of product made by
fp@665:  *  Licensee. People intending to distribute/sell products based on the
fp@665:  *  code, have to sign an agreement to guarantee that products using
fp@665:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@665:  *  EtherCAT specification (which are released themselves as an open
fp@665:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@665:  *  Technology, IP and trade marks.
fp@665:  *
fp@665:  *****************************************************************************/
fp@665: 
fp@665: /**
fp@665:    \file
fp@665:    EtherCAT DUMMY domain methods.
fp@665: */
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: #include "../master/globals.h"
fp@665: #include "../master/domain.h"
fp@665: #include "../master/master.h"
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: uint8_t dummy_data[PAGE_SIZE];
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: /** \cond */
fp@665: 
fp@665: int ecrt_domain_register_pdo(
fp@665:         ec_domain_t *domain, /**< EtherCAT domain */
fp@665:         ec_slave_t *slave, /**< EtherCAT slave */
fp@665:         uint16_t pdo_entry_index, /**< PDO entry index */
fp@665:         uint8_t pdo_entry_subindex, /**< PDO entry subindex */
fp@665:         void **data_ptr /**< address of the process data pointer */
fp@665:         )
fp@665: {
fp@665: 	*data_ptr = dummy_data;
fp@665: 	return 0;
fp@665: }
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: /**
fp@665:  * Registers a bunch of data fields.
fp@665:  * \attention The list has to be terminated with a NULL structure ({})!
fp@665:  * \return 0 in case of success, else < 0
fp@665:  * \ingroup RealtimeInterface
fp@665:  */
fp@665: 
fp@665: int ecrt_domain_register_pdo_list(
fp@665:         ec_domain_t *domain, /**< EtherCAT domain */
fp@665:         const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */
fp@665:         )
fp@665: {
fp@665:     const ec_pdo_reg_t *reg;
fp@665:     
fp@665:     for (reg = pdo_regs; reg->slave_address; reg++) {
fp@665: 		*(reg->data_ptr) = dummy_data;
fp@665:     }
fp@665: 
fp@665:     return 0;
fp@665: }
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: /**
fp@665:  * Registers a PDO range in a domain.
fp@665:  * \return 0 on success, else non-zero
fp@665:  * \ingroup RealtimeInterface
fp@665:  */
fp@665: 
fp@665: int ecrt_domain_register_pdo_range(
fp@665:         ec_domain_t *domain, /**< EtherCAT domain */
fp@665:         ec_slave_t *slave, /**< EtherCAT slave */
fp@665:         ec_direction_t dir, /**< data direction */
fp@665:         uint16_t offset, /**< offset in slave's PDO range */
fp@665:         uint16_t length, /**< length of this range */
fp@665:         void **data_ptr /**< address of the process data pointer */
fp@665:         )
fp@665: {
fp@665: 	*data_ptr = dummy_data;
fp@665:     return 0;
fp@665: }
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: /**
fp@665:    Processes received process data and requeues the domain datagram(s).
fp@665:    \ingroup RealtimeInterface
fp@665: */
fp@665: 
fp@665: void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
fp@665: {
fp@665: }
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: /**
fp@665:    Places all process data datagrams in the masters datagram queue.
fp@665:    \ingroup RealtimeInterface
fp@665: */
fp@665: 
fp@665: void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
fp@665: {
fp@665: }
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: /**
fp@665:    Returns the state of a domain.
fp@665:    \return 0 if all datagrams were received, else -1.
fp@665:    \ingroup RealtimeInterface
fp@665: */
fp@665: 
fp@665: int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)
fp@665: {
fp@665:     return 0;
fp@665: }
fp@665: 
fp@665: /*****************************************************************************/
fp@665: 
fp@665: /** \cond */
fp@665: 
fp@665: EXPORT_SYMBOL(ecrt_domain_register_pdo);
fp@665: EXPORT_SYMBOL(ecrt_domain_register_pdo_list);
fp@665: EXPORT_SYMBOL(ecrt_domain_register_pdo_range);
fp@665: EXPORT_SYMBOL(ecrt_domain_process);
fp@665: EXPORT_SYMBOL(ecrt_domain_queue);
fp@665: EXPORT_SYMBOL(ecrt_domain_state);
fp@665: 
fp@665: /** \endcond */
fp@665: 
fp@665: /*****************************************************************************/