author | Florian Pose <fp@igh-essen.com> |
Wed, 17 Feb 2010 18:18:56 +0100 | |
changeset 1818 | deda3dc1d561 |
parent 1497 | c9308eb34c0e |
child 1826 | ec6223c3b7ec |
permissions | -rw-r--r-- |
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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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|
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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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|
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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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/*****************************************************************************/ |
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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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close(master->fd); |
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free(master); |
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master = 0; |
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} |
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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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/*****************************************************************************/ |
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#define MAX_PATH_LEN 64 |
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|
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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; |
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|
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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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|
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master->process_data = NULL; |
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master->process_data_size = 0; |
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|
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snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index); |
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|
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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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|
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return master; |
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} |
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|
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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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|
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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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/*****************************************************************************/ |