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