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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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#include <sys/types.h>

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#include <sys/stat.h>

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#include <fcntl.h>

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#include <stdio.h>

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#include <stdlib.h>

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#include <errno.h>

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#include <string.h>

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#include "include/ecrt.h"

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#include "master/ioctl.h"

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struct ec_master {

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    int fd;

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    void *handle;

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};

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

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#define MAX_PATH_LEN 64

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ec_master_t *ecrt_request_master(unsigned int master_index)

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{

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    char path[MAX_PATH_LEN];

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    ec_master_t *master;

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    ec_ioctl_request_t data;

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    master = malloc(sizeof(ec_master_t));

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    if (!master) {

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

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        return 0;

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    }

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

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

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

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

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        free(master);

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        return 0;

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    }

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    if (ioctl(master->fd, EC_IOCTL_REQUEST, &data) == -1) {

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        fprintf(stderr, "Failed to request master %u: %s\n",

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                master_index, strerror(errno));

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        close(master->fd);

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        free(master);

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        return 0; 

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    }

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    master->handle = data.handle;

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    return master;

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}

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

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void ecrt_release_master(ec_master_t *master)

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{

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    close(master->fd);

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    free(master);

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}

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

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unsigned int ecrt_version_magic(void)

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{

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    return ECRT_VERSION_MAGIC;

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}

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