fp@1244: /******************************************************************************
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@1266: * 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@1266: * Public License as published by the Free Software Foundation, version 2 of
fp@1266: * the License.
fp@1266: *
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@1266: *
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: * .
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@1244: *
fp@1244: *****************************************************************************/
fp@1244:
fp@1244: #include
fp@1244: #include
fp@1244: #include
fp@1244: #include
fp@1244: #include
fp@1258: #include
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@1255: domain->master = master;
fp@1258: domain->process_data = NULL;
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@1255: sc->master = master;
fp@1246: sc->index = data.config_index;
fp@1255: sc->alias = alias;
fp@1255: sc->position = position;
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@1258: if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
fp@1258: &master->process_data_size) == -1) {
fp@1247: fprintf(stderr, "Failed to activate master: %s\n",
fp@1247: strerror(errno));
fp@1247: return -1;
fp@1247: }
fp@1247:
fp@1258: if (master->process_data_size) {
fp@1258: master->process_data = mmap(0, master->process_data_size,
fp@1259: PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
fp@1258: if (master->process_data == MAP_FAILED) {
fp@1258: fprintf(stderr, "Failed to map process data: %s", strerror(errno));
fp@1258: master->process_data = NULL;
fp@1258: master->process_data_size = 0;
fp@1258: return -1;
fp@1258: }
fp@1258:
fp@1258: // Access the mapped region to cause the initial page fault
fp@1258: printf("pd: %x\n", master->process_data[0]);
fp@1258: }
fp@1258:
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@1259: if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
fp@1259: fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
fp@1259: }
fp@1244: }
fp@1244:
fp@1244: /*****************************************************************************/