1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

#include <stdlib.h>

    35

#include <sys/ioctl.h>

    36

#include <stdio.h>

    37

#include <errno.h>

    38

#include <string.h>

    39

#include <sys/mman.h>

    40

    41

#include "master.h"

    42

#include "domain.h"

    43

#include "slave_config.h"

    44

#include "master/ioctl.h"

    45

    46

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

    47

    48

ec_domain_t *ecrt_master_create_domain(ec_master_t *master)

    49

{

    50

    ec_domain_t *domain;

    51

    int index;

    52

    53

    domain = malloc(sizeof(ec_domain_t));

    54

    if (!domain) {

    55

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

    56

        return 0;

    57

    }

    58

    59

    index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);

    60

    if (index == -1) {

    61

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

    62

        free(domain);

    63

        return 0; 

    64

    }

    65

    66

    domain->index = (unsigned int) index;

    67

    domain->master = master;

    68

    domain->process_data = NULL;

    69

    return domain;

    70

}

    71

    72

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

    73

    74

ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,

    75

        uint16_t alias, uint16_t position, uint32_t vendor_id,

    76

        uint32_t product_code)

    77

{

    78

    ec_ioctl_config_t data;

    79

    ec_slave_config_t *sc;

    80

    int index;

    81

    82

    sc = malloc(sizeof(ec_slave_config_t));

    83

    if (!sc) {

    84

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

    85

        return 0;

    86

    }

    87

    88

    data.alias = alias;

    89

    data.position = position;

    90

    data.vendor_id = vendor_id;

    91

    data.product_code = product_code;

    92

    93

    if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {

    94

        fprintf(stderr, "Failed to create slave config: %s\n",

    95

                strerror(errno));

    96

        free(sc);

    97

        return 0; 

    98

    }

    99

   100

    sc->master = master;

   101

    sc->index = data.config_index;

   102

    sc->alias = alias;

   103

    sc->position = position;

   104

    return sc;

   105

}

   106

   107

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

   108

   109

int ecrt_master_activate(ec_master_t *master)

   110

{

   111

    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,

   112

                &master->process_data_size) == -1) {

   113

        fprintf(stderr, "Failed to activate master: %s\n",

   114

                strerror(errno));

   115

        return -1; 

   116

    }

   117

   118

    if (master->process_data_size) {

   119

        master->process_data = mmap(0, master->process_data_size,

   120

                PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);

   121

        if (master->process_data == MAP_FAILED) {

   122

            fprintf(stderr, "Failed to map process data: %s", strerror(errno));

   123

            master->process_data = NULL;

   124

            master->process_data_size = 0;

   125

            return -1;

   126

        }

   127

   128

        // Access the mapped region to cause the initial page fault

   129

        printf("pd: %x\n", master->process_data[0]);

   130

    }

   131

   132

    return 0;

   133

}

   134

   135

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

   136

   137

void ecrt_master_send(ec_master_t *master)

   138

{

   139

    if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {

   140

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

   141

    }

   142

}

   143

   144

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

   145

   146

void ecrt_master_receive(ec_master_t *master)

   147

{

   148

    if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {

   149

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

   150

    }

   151

}

   152

   153

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

   154

   155

void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)

   156

{

   157

    if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {

   158

        fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));

   159

    }

   160

}

   161

   162

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