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

    41

#include "master.h"

    42

#include "master/ioctl.h"

    43

    44

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

    45

    46

unsigned int ecrt_version_magic(void)

    47

{

    48

    return ECRT_VERSION_MAGIC;

    49

}

    50

    51

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

    52

    53

ec_master_t *ecrt_request_master(unsigned int master_index)

    54

{

    55

    ec_master_t *master = ecrt_open_master(master_index);

    56

    if (master) {

    57

        if (ecrt_master_reserve(master) < 0) {

    58

            close(master->fd);

    59

            free(master);

    60

            master = 0;

    61

        }

    62

    }

    63

    64

    return master;

    65

}

    66

    67

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

    68

    69

#define MAX_PATH_LEN 64

    70

    71

ec_master_t *ecrt_open_master(unsigned int master_index)

    72

{

    73

    char path[MAX_PATH_LEN];

    74

    ec_master_t *master;

    75

    76

    master = malloc(sizeof(ec_master_t));

    77

    if (!master) {

    78

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

    79

        return 0;

    80

    }

    81

    82

    master->process_data = NULL;

    83

    master->process_data_size = 0;

    84

    85

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

    86

    87

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

    88

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

    89

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

    90

        free(master);

    91

        return 0;

    92

    }

    93

    94

    return master;

    95

}

    96

    97

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

    98

    99

void ecrt_release_master(ec_master_t *master)

   100

{

   101

    if (master->process_data)  {

   102

        munmap(master->process_data, master->process_data_size);

   103

    }

   104

   105

    close(master->fd);

   106

    free(master);

   107

}

   108

   109

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