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 <sys/types.h>

    35 #include <sys/stat.h>

    36 #include <fcntl.h>

    37 #include <stdio.h>

    38 #include <stdlib.h>

    39 #include <errno.h>

    40 #include <string.h>

    41 

    42 #include "include/ecrt.h"

    43 #include "master/ioctl.h"

    44 

    45 struct ec_master {

    46     int fd;

    47     void *handle;

    48 };

    49 

    50 /*****************************************************************************/

    51 

    52 #define MAX_PATH_LEN 64

    53 

    54 ec_master_t *ecrt_request_master(unsigned int master_index)

    55 {

    56     char path[MAX_PATH_LEN];

    57     ec_master_t *master;

    58     ec_ioctl_request_t data;

    59 

    60     master = malloc(sizeof(ec_master_t));

    61     if (!master) {

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

    63         return 0;

    64     }

    65 

    66     snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);

    67 

    68     master->fd = open(path, O_RDWR);

    69     if (master->fd == -1) {

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

    71         free(master);

    72         return 0;

    73     }

    74 

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

    76         fprintf(stderr, "Failed to request master %u: %s\n",

    77                 master_index, strerror(errno));

    78         close(master->fd);

    79         free(master);

    80         return 0; 

    81     }

    82 

    83     master->handle = data.handle;

    84     return master;

    85 }

    86 

    87 /*****************************************************************************/

    88 

    89 void ecrt_release_master(ec_master_t *master)

    90 {

    91     close(master->fd);

    92     free(master);

    93 }

    94 

    95 /*****************************************************************************/

    96 

    97 unsigned int ecrt_version_magic(void)

    98 {

    99     return ECRT_VERSION_MAGIC;

   100 }

   101 

   102 /*****************************************************************************/