Warning.
/******************************************************************************
*
* $Id$
*
* 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 <stdlib.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include "master.h"
#include "domain.h"
#include "slave_config.h"
#include "master/ioctl.h"
/*****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
{
ec_domain_t *domain;
int index;
domain = malloc(sizeof(ec_domain_t));
if (!domain) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
if (index == -1) {
fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
free(domain);
return 0;
}
domain->index = (unsigned int) index;
domain->master = master;
return domain;
}
/*****************************************************************************/
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
uint16_t alias, uint16_t position, uint32_t vendor_id,
uint32_t product_code)
{
ec_ioctl_config_t data;
ec_slave_config_t *sc;
int index;
sc = malloc(sizeof(ec_slave_config_t));
if (!sc) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
data.alias = alias;
data.position = position;
data.vendor_id = vendor_id;
data.product_code = product_code;
if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
fprintf(stderr, "Failed to create slave config: %s\n",
strerror(errno));
free(sc);
return 0;
}
sc->master = master;
sc->index = data.config_index;
sc->alias = alias;
sc->position = position;
return sc;
}
/*****************************************************************************/
int ecrt_master_activate(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_ACTIVATE, NULL) == -1) {
fprintf(stderr, "Failed to activate master: %s\n",
strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
void ecrt_master_send(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
fprintf(stderr, "Failed to send: %s\n", strerror(errno));
}
}
/*****************************************************************************/
void ecrt_master_receive(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
}
}
/*****************************************************************************/
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
}
/*****************************************************************************/