domain.c File Reference

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Detailed Description

EtherCAT domain methods.

Definition in file domain.c.

Go to the source code of this file.

Data Structures
struct	ec_data_reg_t
	Data registration type. More...
Functions
void	ec_domain_clear (struct kobject *kobj)
	Clear and free domain.
void	ec_domain_clear_data_regs (ec_domain_t *domain)
	Clears the list of the data registrations.
ssize_t	ec_show_domain_attribute (struct kobject *kobj,struct attribute *attr,char *buffer)
	Formats attribute data for SysFS reading.
int	ec_domain_init (ec_domain_t *domain, ec_master_t *master, unsigned int index)
	Domain constructor.
void	ec_domain_destroy (ec_domain_t *domain)
	Domain destructor.
int	ec_domain_reg_pdo_entry (ec_domain_t *domain, ec_slave_t *slave, const ec_sii_pdo_t *pdo, const ec_sii_pdo_entry_t *entry, void **data_ptr)
	Registeres a PDO entry.
int	ec_domain_reg_pdo_range (ec_domain_t *domain, ec_slave_t *slave, ec_direction_t dir, uint16_t offset, uint16_t length, void **data_ptr)
	Registeres a PDO range.
int	ec_domain_add_datagram (ec_domain_t *domain, uint32_t offset, size_t data_size)
	Allocates a process data datagram and appends it to the list.
int	ec_domain_alloc (ec_domain_t *domain, uint32_t base_address)
	Creates a domain.
void	ec_domain_queue_datagrams (ec_domain_t *domain)
	Places all process data datagrams in the masters datagram queue.
ec_slave_t *	ecrt_domain_register_pdo (ec_domain_t *domain, const char *address, uint32_t vendor_id, uint32_t product_code, uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr)
	Registers a PDO in a domain.
int	ecrt_domain_register_pdo_list (ec_domain_t *domain, const ec_pdo_reg_t *pdos)
	Registeres a bunch of data fields.
ec_slave_t *	ecrt_domain_register_pdo_range (ec_domain_t *domain, const char *address, uint32_t vendor_id, uint32_t product_code, ec_direction_t direction, uint16_t offset, uint16_t length, void **data_ptr)
	Registers a PDO range in a domain.
void	ecrt_domain_process (ec_domain_t *domain)
	Processes received process data and requeues the domain datagram(s).
int	ecrt_domain_state (const ec_domain_t *domain)
	Returns the state of a domain.

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Function Documentation

void ec_domain_clear (  struct kobject *  kobj  )

Clear and free domain. This method is called by the kobject, once there are no more references to it. Parameters: kobj  kobject of the domain Definition at line 165 of file domain.c.

void ec_domain_clear_data_regs (  ec_domain_t *   )

Clears the list of the data registrations. Parameters: domain  EtherCAT domain Definition at line 343 of file domain.c.

ssize_t ec_show_domain_attribute (  struct kobject *  kobj, struct attribute *  attr, char *  buffer )

Formats attribute data for SysFS reading. Returns: number of bytes to read Parameters: kobj  kobject attr  attribute buffer  memory to store data in Definition at line 501 of file domain.c.

int ec_domain_init (  ec_domain_t *  domain, ec_master_t *  master, unsigned int  index )

Domain constructor. Returns: 0 in case of success, else < 0 Parameters: domain  EtherCAT domain master  owning master index  domain index Definition at line 100 of file domain.c.

void ec_domain_destroy (  ec_domain_t *  domain  )

Domain destructor. Clears and frees a domain object. Parameters: domain  EtherCAT domain Definition at line 142 of file domain.c.

int ec_domain_reg_pdo_entry (  ec_domain_t *  domain, ec_slave_t *  slave, const ec_sii_pdo_t *  pdo, const ec_sii_pdo_entry_t *  entry, void **  data_ptr )

Registeres a PDO entry. Returns: 0 in case of success, else < 0 Parameters: domain  EtherCAT domain slave  slave pdo  PDO entry  PDO registration entry data_ptr  pointer to the process data pointer Definition at line 189 of file domain.c.

int ec_domain_reg_pdo_range (  ec_domain_t *  domain, ec_slave_t *  slave, ec_direction_t  dir, uint16_t  offset, uint16_t  length, void **  data_ptr )

Registeres a PDO range. Returns: 0 in case of success, else < 0 Parameters: domain  EtherCAT domain slave  slave dir  data direction offset  offset length  length data_ptr  pointer to the process data pointer Definition at line 266 of file domain.c.

int ec_domain_add_datagram (  ec_domain_t *  domain, uint32_t  offset, size_t  data_size )

Allocates a process data datagram and appends it to the list. Returns: 0 in case of success, else < 0 Parameters: domain  EtherCAT domain offset  logical offset data_size  size of the datagram data Definition at line 360 of file domain.c.

int ec_domain_alloc (  ec_domain_t *  domain, uint32_t  base_address )

Creates a domain. Reserves domain memory, calculates the logical addresses of the corresponding FMMUs and sets the process data pointer of the registered process data. Returns: 0 in case of success, else < 0 Parameters: domain  EtherCAT domain base_address  logical base address Definition at line 393 of file domain.c.

void ec_domain_queue_datagrams (  ec_domain_t *  domain  )

Places all process data datagrams in the masters datagram queue. Parameters: domain  EtherCAT domain Definition at line 485 of file domain.c.

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