fp@1242: /******************************************************************************
fp@2392:  *
fp@2414:  *  $Id$
fp@2392:  *
fp@2589:  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
fp@2392:  *
fp@1326:  *  This file is part of the IgH EtherCAT master userspace library.
fp@2392:  *
fp@1326:  *  The IgH EtherCAT master userspace library is free software; you can
fp@1326:  *  redistribute it and/or modify it under the terms of the GNU Lesser General
fp@1326:  *  Public License as published by the Free Software Foundation; version 2.1
fp@1326:  *  of the License.
fp@1287:  *
fp@1326:  *  The IgH EtherCAT master userspace library is distributed in the hope that
fp@1326:  *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
fp@1326:  *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1326:  *  GNU Lesser General Public License for more details.
fp@1287:  *
fp@1326:  *  You should have received a copy of the GNU Lesser General Public License
fp@1326:  *  along with the IgH EtherCAT master userspace library. If not, see
fp@1326:  *  <http://www.gnu.org/licenses/>.
fp@2392:  *
fp@1363:  *  ---
fp@2392:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
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 <string.h>
fp@1258: #include <sys/mman.h>
fp@1975: #include <unistd.h>
fp@1975: #include <sys/socket.h>
fp@1242: 
fp@2589: #include "ioctl.h"
fp@1244: #include "master.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@1497: ec_master_t *ecrt_request_master(unsigned int master_index)
fp@1497: {
fp@1497:     ec_master_t *master = ecrt_open_master(master_index);
fp@1497:     if (master) {
fp@1497:         if (ecrt_master_reserve(master) < 0) {
fp@1959:             ec_master_clear(master);
fp@1497:             free(master);
fp@1959:             master = NULL;
fp@1497:         }
fp@1497:     }
fp@1497: 
fp@1497:     return master;
fp@1497: }
fp@1497: 
fp@1497: /*****************************************************************************/
fp@1497: 
fp@1495: #define MAX_PATH_LEN 64
fp@1495: 
fp@1497: ec_master_t *ecrt_open_master(unsigned int master_index)
fp@1242: {
fp@1495:     char path[MAX_PATH_LEN];
fp@1826:     ec_master_t *master = NULL;
fp@1826:     ec_ioctl_module_t module_data;
fp@2589:     int ret;
fp@1495: 
fp@1495:     master = malloc(sizeof(ec_master_t));
fp@1495:     if (!master) {
fp@1495:         fprintf(stderr, "Failed to allocate memory.\n");
fp@1495:         return 0;
fp@1495:     }
fp@1495: 
fp@1495:     master->process_data = NULL;
fp@1495:     master->process_data_size = 0;
fp@1959:     master->first_domain = NULL;
fp@1959:     master->first_config = NULL;
fp@1495: 
fp@2589:     snprintf(path, MAX_PATH_LEN - 1,
fp@2589: #ifdef USE_RTDM
fp@2589:             "EtherCAT%u",
fp@2589: #else
fp@2589:             "/dev/EtherCAT%u",
fp@2589: #endif
fp@2589:             master_index);
fp@1495: 
fp@2589: #ifdef USE_RTDM
fp@2589:     master->fd = rt_dev_open(path, O_RDWR);
fp@2589: #else
fp@1495:     master->fd = open(path, O_RDWR);
fp@2589: #endif
fp@2589:     if (EC_IOCTL_IS_ERROR(master->fd)) {
fp@2589:         fprintf(stderr, "Failed to open %s: %s\n", path,
fp@2589:                 strerror(EC_IOCTL_ERRNO(master->fd)));
fp@1959:         goto out_clear;
fp@1826:     }
fp@1826: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_MODULE, &module_data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1826:         fprintf(stderr, "Failed to get module information from %s: %s\n",
fp@2589:                 path, strerror(EC_IOCTL_ERRNO(ret)));
fp@1959:         goto out_clear;
fp@1826:     }
fp@1826: 
fp@1826:     if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {
fp@1826:         fprintf(stderr, "ioctl() version magic is differing:"
fp@1826:                 " %s: %u, libethercat: %u.\n",
fp@1826:                 path, module_data.ioctl_version_magic,
fp@1826:                 EC_IOCTL_VERSION_MAGIC);
fp@1959:         goto out_clear;
fp@1495:     }
fp@1495: 
fp@1242:     return master;
fp@1826: 
fp@1959: out_clear:
fp@1959:     ec_master_clear(master);
fp@1826:     free(master);
fp@1826:     return 0;
fp@1242: }
fp@1242: 
fp@1242: /*****************************************************************************/
fp@1242: 
fp@1242: void ecrt_release_master(ec_master_t *master)
fp@1242: {
fp@1959:     ec_master_clear(master);
fp@1242:     free(master);
fp@1242: }
fp@1242: 
fp@1242: /*****************************************************************************/