fp@1242: /******************************************************************************
fp@1242:  *
fp@1242:  *  $Id$
fp@1242:  *
fp@1242:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1242:  *
fp@1242:  *  This file is part of the IgH EtherCAT Master.
fp@1242:  *
fp@1242:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1242:  *  and/or modify it under the terms of the GNU General Public License
fp@1242:  *  as published by the Free Software Foundation; either version 2 of the
fp@1242:  *  License, or (at your option) any later version.
fp@1242:  *
fp@1242:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1242:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1242:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1242:  *  GNU General Public License for more details.
fp@1242:  *
fp@1242:  *  You should have received a copy of the GNU General Public License
fp@1242:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1242:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1242:  *
fp@1242:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1242:  *  charge under condition of compatibility of product made by
fp@1242:  *  Licensee. People intending to distribute/sell products based on the
fp@1242:  *  code, have to sign an agreement to guarantee that products using
fp@1242:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1242:  *  EtherCAT specification (which are released themselves as an open
fp@1242:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1242:  *  Technology, IP and trade marks.
fp@1242:  *
fp@1242:  *****************************************************************************/
fp@1242: 
fp@1242: #include <sys/types.h>
fp@1242: #include <sys/stat.h>
fp@1242: #include <fcntl.h>
fp@1242: #include <stdio.h>
fp@1242: #include <stdlib.h>
fp@1242: #include <errno.h>
fp@1242: #include <string.h>
fp@1244: #include <sys/ioctl.h>
fp@1242: 
fp@1244: #include "master.h"
fp@1242: #include "master/ioctl.h"
fp@1242: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: unsigned int ecrt_version_magic(void)
fp@1244: {
fp@1244:     return ECRT_VERSION_MAGIC;
fp@1244: }
fp@1242: 
fp@1242: /*****************************************************************************/
fp@1242: 
fp@1242: #define MAX_PATH_LEN 64
fp@1242: 
fp@1242: ec_master_t *ecrt_request_master(unsigned int master_index)
fp@1242: {
fp@1242:     char path[MAX_PATH_LEN];
fp@1242:     ec_master_t *master;
fp@1242: 
fp@1242:     master = malloc(sizeof(ec_master_t));
fp@1242:     if (!master) {
fp@1242:         fprintf(stderr, "Failed to allocate memory.\n");
fp@1242:         return 0;
fp@1242:     }
fp@1242: 
fp@1242:     snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
fp@1242: 
fp@1242:     master->fd = open(path, O_RDWR);
fp@1242:     if (master->fd == -1) {
fp@1242:         fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
fp@1242:         free(master);
fp@1242:         return 0;
fp@1242:     }
fp@1242: 
fp@1244:     if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
fp@1242:         fprintf(stderr, "Failed to request master %u: %s\n",
fp@1242:                 master_index, strerror(errno));
fp@1242:         close(master->fd);
fp@1242:         free(master);
fp@1242:         return 0; 
fp@1242:     }
fp@1242: 
fp@1242:     return master;
fp@1242: }
fp@1242: 
fp@1242: /*****************************************************************************/
fp@1242: 
fp@1242: void ecrt_release_master(ec_master_t *master)
fp@1242: {
fp@1242:     close(master->fd);
fp@1242:     free(master);
fp@1242: }
fp@1242: 
fp@1242: /*****************************************************************************/