fp@1242: /******************************************************************************
fp@1266:  *  
fp@1266:  * $Id$
fp@1266:  * 
fp@1266:  * Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1266:  * 
fp@1266:  * This file is part of the IgH EtherCAT master userspace library.
fp@1266:  * 
fp@1287:  * The IgH EtherCAT master userspace library is free software; you can
fp@1266:  * redistribute it and/or modify it under the terms of the GNU Lesser General
fp@1287:  * Public License as published by the Free Software Foundation; version 2.1 of
fp@1266:  * the License.
fp@1287:  *
fp@1266:  * The IgH EtherCAT master userspace library is distributed in the hope that
fp@1266:  * it will be useful, but WITHOUT ANY WARRANTY; without even the implied
fp@1266:  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1266:  * GNU Lesser General Public License for more details.
fp@1287:  *
fp@1266:  * You should have received a copy of the GNU Lesser General Public License
fp@1266:  * along with the IgH EtherCAT master userspace library. If not, see
fp@1266:  * <http://www.gnu.org/licenses/>.
fp@1266:  * 
fp@1266:  * The right to use EtherCAT Technology is granted and comes free of charge
fp@1266:  * under condition of compatibility of product made by Licensee. People
fp@1266:  * intending to distribute/sell products based on the code, have to sign an
fp@1266:  * agreement to guarantee that products using software based on IgH EtherCAT
fp@1266:  * master stay compatible with the actual EtherCAT specification (which are
fp@1266:  * released themselves as an open standard) as the (only) precondition to have
fp@1266:  * the right to use EtherCAT 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@1258: #include <sys/mman.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@1258:     master->process_data = NULL;
fp@1258:     master->process_data_size = 0;
fp@1258: 
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@1258:     if (master->process_data)  {
fp@1258:         munmap(master->process_data, master->process_data_size);
fp@1258:     }
fp@1258: 
fp@1242:     close(master->fd);
fp@1242:     free(master);
fp@1242: }
fp@1242: 
fp@1242: /*****************************************************************************/