--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/common.c Wed Oct 01 14:42:28 2008 +0000
@@ -0,0 +1,102 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+
+#include "include/ecrt.h"
+#include "master/ioctl.h"
+
+struct ec_master {
+ int fd;
+ void *handle;
+};
+
+/*****************************************************************************/
+
+#define MAX_PATH_LEN 64
+
+ec_master_t *ecrt_request_master(unsigned int master_index)
+{
+ char path[MAX_PATH_LEN];
+ ec_master_t *master;
+ ec_ioctl_request_t data;
+
+ master = malloc(sizeof(ec_master_t));
+ if (!master) {
+ fprintf(stderr, "Failed to allocate memory.\n");
+ return 0;
+ }
+
+ snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
+
+ master->fd = open(path, O_RDWR);
+ if (master->fd == -1) {
+ fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
+ free(master);
+ return 0;
+ }
+
+ if (ioctl(master->fd, EC_IOCTL_REQUEST, &data) == -1) {
+ fprintf(stderr, "Failed to request master %u: %s\n",
+ master_index, strerror(errno));
+ close(master->fd);
+ free(master);
+ return 0;
+ }
+
+ master->handle = data.handle;
+ return master;
+}
+
+/*****************************************************************************/
+
+void ecrt_release_master(ec_master_t *master)
+{
+ close(master->fd);
+ free(master);
+}
+
+/*****************************************************************************/
+
+unsigned int ecrt_version_magic(void)
+{
+ return ECRT_VERSION_MAGIC;
+}
+
+/*****************************************************************************/