EtherCAT functionality of igb driver.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/mman.h>
#include <unistd.h>
#include <sys/socket.h>
#include "ioctl.h"
#include "master.h"
/*****************************************************************************/
unsigned int ecrt_version_magic(void)
{
return ECRT_VERSION_MAGIC;
}
/*****************************************************************************/
ec_master_t *ecrt_request_master(unsigned int master_index)
{
ec_master_t *master = ecrt_open_master(master_index);
if (master) {
if (ecrt_master_reserve(master) < 0) {
ec_master_clear(master);
free(master);
master = NULL;
}
}
return master;
}
/*****************************************************************************/
#define MAX_PATH_LEN 64
ec_master_t *ecrt_open_master(unsigned int master_index)
{
char path[MAX_PATH_LEN];
ec_master_t *master = NULL;
ec_ioctl_module_t module_data;
int ret;
master = malloc(sizeof(ec_master_t));
if (!master) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
master->process_data = NULL;
master->process_data_size = 0;
master->first_domain = NULL;
master->first_config = NULL;
snprintf(path, MAX_PATH_LEN - 1,
#ifdef USE_RTDM
"EtherCAT%u",
#else
"/dev/EtherCAT%u",
#endif
master_index);
#ifdef USE_RTDM
master->fd = rt_dev_open(path, O_RDWR);
#else
master->fd = open(path, O_RDWR);
#endif
if (EC_IOCTL_IS_ERROR(master->fd)) {
fprintf(stderr, "Failed to open %s: %s\n", path,
strerror(EC_IOCTL_ERRNO(master->fd)));
goto out_clear;
}
ret = ioctl(master->fd, EC_IOCTL_MODULE, &module_data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get module information from %s: %s\n",
path, strerror(EC_IOCTL_ERRNO(ret)));
goto out_clear;
}
if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {
fprintf(stderr, "ioctl() version magic is differing:"
" %s: %u, libethercat: %u.\n",
path, module_data.ioctl_version_magic,
EC_IOCTL_VERSION_MAGIC);
goto out_clear;
}
return master;
out_clear:
ec_master_clear(master);
free(master);
return 0;
}
/*****************************************************************************/
void ecrt_release_master(ec_master_t *master)
{
ec_master_clear(master);
free(master);
}
/*****************************************************************************/