lib/common.c
author Florian Pose <fp@igh-essen.com>
Tue, 21 Oct 2008 14:37:50 +0000
changeset 1290 68e7534d2855
parent 1287 cc7b679c74e9
child 1326 ef907b0b5125
permissions -rw-r--r--
Realtime->Application.
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/******************************************************************************
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 *  
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 * $Id$
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 * 
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 * Copyright (C) 2006-2008  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 of
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 * 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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 * The right to use EtherCAT Technology is granted and comes free of charge
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 * under condition of compatibility of product made by Licensee. People
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 * intending to distribute/sell products based on the code, have to sign an
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 * agreement to guarantee that products using software based on IgH EtherCAT
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 * master stay compatible with the actual EtherCAT specification (which are
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 * released themselves as an open standard) as the (only) precondition to have
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 * the right to use EtherCAT 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 <sys/ioctl.h>
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#include <sys/mman.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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#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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    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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    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, NULL) == -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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    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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    if (master->process_data)  {
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        munmap(master->process_data, master->process_data_size);
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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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/*****************************************************************************/