1

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

     2

 *  

     3

 *  $Id$

     4

 * 

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *  

     7

 *  This file is part of the IgH EtherCAT master userspace library.

     8

 *  

     9

 *  The IgH EtherCAT master userspace library is free software; you can

    10

 *  redistribute it and/or modify it under the terms of the GNU Lesser General

    11

 *  Public License as published by the Free Software Foundation; version 2.1

    12

 *  of the License.

    13

 *

    14

 *  The IgH EtherCAT master userspace library is distributed in the hope that

    15

 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied

    16

 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU Lesser General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU Lesser General Public License

    20

 *  along with the IgH EtherCAT master userspace library. If not, see

    21

 *  <http://www.gnu.org/licenses/>.

    22

 *  

    23

 *  ---

    24

 *  

    25

 *  The license mentioned above concerns the source code only. Using the

    26

 *  EtherCAT technology and brand is only permitted in compliance with the

    27

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    28

 *

    29

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

    30

    31

#include <sys/types.h>

    32

#include <sys/stat.h>

    33

#include <fcntl.h>

    34

#include <stdio.h>

    35

#include <stdlib.h>

    36

#include <errno.h>

    37

#include <string.h>

    38

#include <sys/ioctl.h>

    39

#include <sys/mman.h>

    40

#include <unistd.h>

    41

#include <sys/socket.h>

    42

    43

#include "master.h"

    44

#include "master/ioctl.h"

    45

    46

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

    47

    48

unsigned int ecrt_version_magic(void)

    49

{

    50

    return ECRT_VERSION_MAGIC;

    51

}

    52

    53

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

    54

    55

ec_master_t *ecrt_request_master(unsigned int master_index)

    56

{

    57

    ec_master_t *master = ecrt_open_master(master_index);

    58

    if (master) {

    59

        if (ecrt_master_reserve(master) < 0) {

    60

            ec_master_clear(master);

    61

            free(master);

    62

            master = NULL;

    63

        }

    64

    }

    65

    66

    return master;

    67

}

    68

    69

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

    70

    71

#define MAX_PATH_LEN 64

    72

    73

ec_master_t *ecrt_open_master(unsigned int master_index)

    74

{

    75

    char path[MAX_PATH_LEN];

    76

    ec_master_t *master = NULL;

    77

    ec_ioctl_module_t module_data;

    78

    79

    master = malloc(sizeof(ec_master_t));

    80

    if (!master) {

    81

        fprintf(stderr, "Failed to allocate memory.\n");

    82

        return 0;

    83

    }

    84

    85

    master->process_data = NULL;

    86

    master->process_data_size = 0;

    87

    master->first_domain = NULL;

    88

    master->first_config = NULL;

    89

    90

    snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);

    91

    92

    master->fd = open(path, O_RDWR);

    93

    if (master->fd == -1) {

    94

        fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));

    95

        goto out_clear;

    96

    }

    97

    98

    if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) {

    99

        fprintf(stderr, "Failed to get module information from %s: %s\n",

   100

                path, strerror(errno));

   101

        goto out_clear;

   102

    }

   103

   104

    if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {

   105

        fprintf(stderr, "ioctl() version magic is differing:"

   106

                " %s: %u, libethercat: %u.\n",

   107

                path, module_data.ioctl_version_magic,

   108

                EC_IOCTL_VERSION_MAGIC);

   109

        goto out_clear;

   110

    }

   111

   112

    return master;

   113

   114

out_clear:

   115

    ec_master_clear(master);

   116

    free(master);

   117

    return 0;

   118

}

   119

   120

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

   121

   122

void ecrt_release_master(ec_master_t *master)

   123

{

   124

    ec_master_clear(master);

   125

    free(master);

   126

}

   127

   128

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