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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 <stdlib.h>

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#include <sys/ioctl.h>

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#include <stdio.h>

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#include <errno.h>

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#include <string.h>

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#include <sys/mman.h>

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#include "master.h"

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#include "domain.h"

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#include "slave_config.h"

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#include "master/ioctl.h"

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

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ec_domain_t *ecrt_master_create_domain(ec_master_t *master)

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{

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    ec_domain_t *domain;

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    int index;

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    domain = malloc(sizeof(ec_domain_t));

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    if (!domain) {

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

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    if (index == -1) {

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

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        free(domain);

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        return 0; 

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    }

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    domain->index = (unsigned int) index;

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    domain->master = master;

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    domain->process_data = NULL;

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    return domain;

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}

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

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ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,

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        uint16_t alias, uint16_t position, uint32_t vendor_id,

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        uint32_t product_code)

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{

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    ec_ioctl_config_t data;

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    ec_slave_config_t *sc;

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    int index;

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    sc = malloc(sizeof(ec_slave_config_t));

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    if (!sc) {

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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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    data.alias = alias;

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    data.position = position;

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    data.vendor_id = vendor_id;

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    data.product_code = product_code;

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

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

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                strerror(errno));

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        free(sc);

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        return 0; 

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    }

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    sc->master = master;

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    sc->index = data.config_index;

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    sc->alias = alias;

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    sc->position = position;

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    return sc;

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}

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

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int ecrt_master_activate(ec_master_t *master)

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{

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    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,

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

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

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                strerror(errno));

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    }

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    if (master->process_data_size) {

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

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

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        if (master->process_data == MAP_FAILED) {

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

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

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

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    }

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    return 0;

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}

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

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void ecrt_master_send(ec_master_t *master)

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{

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

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

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    }

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}

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

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void ecrt_master_receive(ec_master_t *master)

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{

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

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

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    }

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}

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

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

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{

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

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

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    }

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}

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