lib/common.c
author Florian Pose <fp@igh-essen.com>
Tue, 10 Jan 2012 10:12:26 +0100
changeset 2245 13ef066f37d3
parent 1975 8e173dddd183
child 2383 572948e8b2ed
child 2392 cc98844cc65c
permissions -rw-r--r--
Improved docs.
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/******************************************************************************
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 *  
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 *  $Id$
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 * 
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *  
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 *  This file is part of the IgH EtherCAT master userspace library.
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 *  
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 *  The IgH EtherCAT master userspace library is free software; you can
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 *  redistribute it and/or modify it under the terms of the GNU Lesser General
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 *  Public License as published by the Free Software Foundation; version 2.1
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 *  of the License.
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 *
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 *  The IgH EtherCAT master userspace library is distributed in the hope that
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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU Lesser General Public License for more details.
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 *
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 *  You should have received a copy of the GNU Lesser General Public License
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 *  along with the IgH EtherCAT master userspace library. If not, see
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 *  <http://www.gnu.org/licenses/>.
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 *  
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 *  ---
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 *  
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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 <sys/ioctl.h>
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#include <sys/mman.h>
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#include <unistd.h>
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#include <sys/socket.h>
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#include "master.h"
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#include "master/ioctl.h"
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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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/*****************************************************************************/
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ec_master_t *ecrt_request_master(unsigned int master_index)
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{
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    ec_master_t *master = ecrt_open_master(master_index);
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    if (master) {
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        if (ecrt_master_reserve(master) < 0) {
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            ec_master_clear(master);
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            free(master);
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            master = NULL;
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        }
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    }
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    return master;
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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_open_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 = NULL;
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    ec_ioctl_module_t module_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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    master->process_data = NULL;
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    master->process_data_size = 0;
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    master->first_domain = NULL;
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    master->first_config = NULL;
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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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        goto out_clear;
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    }
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    if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) {
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        fprintf(stderr, "Failed to get module information from %s: %s\n",
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                path, strerror(errno));
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        goto out_clear;
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    }
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    if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {
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        fprintf(stderr, "ioctl() version magic is differing:"
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                " %s: %u, libethercat: %u.\n",
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                path, module_data.ioctl_version_magic,
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                EC_IOCTL_VERSION_MAGIC);
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        goto out_clear;
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    }
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    return master;
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out_clear:
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    ec_master_clear(master);
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    free(master);
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    return 0;
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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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    ec_master_clear(master);
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    free(master);
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}
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632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
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