fp@1244: /******************************************************************************
fp@1244:  *
fp@1244:  *  $Id$
fp@1244:  *
fp@1244:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1244:  *
fp@1244:  *  This file is part of the IgH EtherCAT Master.
fp@1244:  *
fp@1244:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1244:  *  and/or modify it under the terms of the GNU General Public License
fp@1244:  *  as published by the Free Software Foundation; either version 2 of the
fp@1244:  *  License, or (at your option) any later version.
fp@1244:  *
fp@1244:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1244:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1244:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1244:  *  GNU General Public License for more details.
fp@1244:  *
fp@1244:  *  You should have received a copy of the GNU General Public License
fp@1244:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1244:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1244:  *
fp@1244:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1244:  *  charge under condition of compatibility of product made by
fp@1244:  *  Licensee. People intending to distribute/sell products based on the
fp@1244:  *  code, have to sign an agreement to guarantee that products using
fp@1244:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1244:  *  EtherCAT specification (which are released themselves as an open
fp@1244:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1244:  *  Technology, IP and trade marks.
fp@1244:  *
fp@1244:  *****************************************************************************/
fp@1244: 
fp@1244: #include <stdlib.h>
fp@1244: #include <sys/ioctl.h>
fp@1244: #include <stdio.h>
fp@1244: #include <errno.h>
fp@1244: #include <string.h>
fp@1244: 
fp@1244: #include "master.h"
fp@1244: #include "domain.h"
fp@1246: #include "slave_config.h"
fp@1244: #include "master/ioctl.h"
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
fp@1244: {
fp@1244:     ec_domain_t *domain;
fp@1244:     int index;
fp@1244: 
fp@1244:     domain = malloc(sizeof(ec_domain_t));
fp@1244:     if (!domain) {
fp@1244:         fprintf(stderr, "Failed to allocate memory.\n");
fp@1244:         return 0;
fp@1244:     }
fp@1244:     
fp@1244:     index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
fp@1244:     if (index == -1) {
fp@1244:         fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
fp@1244:         free(domain);
fp@1244:         return 0; 
fp@1244:     }
fp@1244: 
fp@1244:     domain->index = (unsigned int) index;
fp@1244:     return domain;
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
fp@1244:         uint16_t alias, uint16_t position, uint32_t vendor_id,
fp@1244:         uint32_t product_code)
fp@1244: {
fp@1246:     ec_ioctl_config_t data;
fp@1246:     ec_slave_config_t *sc;
fp@1246:     int index;
fp@1246: 
fp@1246:     sc = malloc(sizeof(ec_slave_config_t));
fp@1246:     if (!sc) {
fp@1246:         fprintf(stderr, "Failed to allocate memory.\n");
fp@1246:         return 0;
fp@1246:     }
fp@1246:     
fp@1246:     data.alias = alias;
fp@1246:     data.position = position;
fp@1246:     data.vendor_id = vendor_id;
fp@1246:     data.product_code = product_code;
fp@1246:     
fp@1246:     if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
fp@1246:         fprintf(stderr, "Failed to create slave config: %s\n",
fp@1246:                 strerror(errno));
fp@1246:         free(sc);
fp@1246:         return 0; 
fp@1246:     }
fp@1246: 
fp@1246:     sc->index = data.config_index;
fp@1246:     return sc;
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: int ecrt_master_activate(ec_master_t *master)
fp@1244: {
fp@1247:     if (ioctl(master->fd, EC_IOCTL_ACTIVATE, NULL) == -1) {
fp@1247:         fprintf(stderr, "Failed to activate master: %s\n",
fp@1247:                 strerror(errno));
fp@1247:         return -1; 
fp@1247:     }
fp@1247: 
fp@1244:     return 0;
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: void ecrt_master_send(ec_master_t *master)
fp@1244: {
fp@1247:     if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
fp@1247:         fprintf(stderr, "Failed to send: %s\n", strerror(errno));
fp@1247:     }
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: void ecrt_master_receive(ec_master_t *master)
fp@1244: {
fp@1247:     if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
fp@1247:         fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
fp@1247:     }
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
fp@1244: {
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/