--- a/examples/user/main.c Thu Oct 02 07:14:00 2008 +0000
+++ b/examples/user/main.c Thu Oct 02 10:19:02 2008 +0000
@@ -10,11 +10,17 @@
int main(int argc, char **argv)
{
- ec_master_t *master = ecrt_request_master(0);
-
+ ec_master_t *master;
+ ec_domain_t *domain;
+
+ master = ecrt_request_master(0);
if (!master)
return -1;
+ domain = ecrt_master_create_domain(master);
+ if (!domain)
+ return -1;
+
while (1) {
sleep(1);
}
--- a/include/ecrt.h Thu Oct 02 07:14:00 2008 +0000
+++ b/include/ecrt.h Thu Oct 02 10:19:02 2008 +0000
@@ -367,6 +367,8 @@
* Master methods
*****************************************************************************/
+#ifdef __KERNEL__
+
/** Sets the locking callbacks.
*
* For concurrent master access, the application has to provide a locking
@@ -386,6 +388,8 @@
void *cb_data /**< Arbitrary user data. */
);
+#endif /* __KERNEL__ */
+
/** Creates a new process data domain.
*
* For process data exchange, at least one process data domain is needed.
--- a/lib/Makefile.am Thu Oct 02 07:14:00 2008 +0000
+++ b/lib/Makefile.am Thu Oct 02 10:19:02 2008 +0000
@@ -40,6 +40,11 @@
libethercat_la_LDFLAGS = -version-info 1:0:0
libethercat_la_CFLAGS = -I$(srcdir)/..
libethercat_la_SOURCES = \
- common.c
+ common.c \
+ master.c
+
+noinst_HEADERS = \
+ domain.h \
+ master.h
#------------------------------------------------------------------------------
--- a/lib/common.c Thu Oct 02 07:14:00 2008 +0000
+++ b/lib/common.c Thu Oct 02 10:19:02 2008 +0000
@@ -38,14 +38,17 @@
#include <stdlib.h>
#include <errno.h>
#include <string.h>
+#include <sys/ioctl.h>
-#include "include/ecrt.h"
+#include "master.h"
#include "master/ioctl.h"
-struct ec_master {
- int fd;
- void *handle;
-};
+/*****************************************************************************/
+
+unsigned int ecrt_version_magic(void)
+{
+ return ECRT_VERSION_MAGIC;
+}
/*****************************************************************************/
@@ -55,7 +58,6 @@
{
char path[MAX_PATH_LEN];
ec_master_t *master;
- ec_ioctl_request_t data;
master = malloc(sizeof(ec_master_t));
if (!master) {
@@ -72,7 +74,7 @@
return 0;
}
- if (ioctl(master->fd, EC_IOCTL_REQUEST, &data) == -1) {
+ if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
fprintf(stderr, "Failed to request master %u: %s\n",
master_index, strerror(errno));
close(master->fd);
@@ -80,7 +82,6 @@
return 0;
}
- master->handle = data.handle;
return master;
}
@@ -93,10 +94,3 @@
}
/*****************************************************************************/
-
-unsigned int ecrt_version_magic(void)
-{
- return ECRT_VERSION_MAGIC;
-}
-
-/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/domain.h Thu Oct 02 10:19:02 2008 +0000
@@ -0,0 +1,42 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#include "include/ecrt.h"
+
+/*****************************************************************************/
+
+struct ec_domain {
+ unsigned int index;
+};
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/master.c Thu Oct 02 10:19:02 2008 +0000
@@ -0,0 +1,103 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#include <stdlib.h>
+#include <sys/ioctl.h>
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include "master.h"
+#include "domain.h"
+#include "master/ioctl.h"
+
+/*****************************************************************************/
+
+ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
+{
+ ec_domain_t *domain;
+ int index;
+
+ domain = malloc(sizeof(ec_domain_t));
+ if (!domain) {
+ fprintf(stderr, "Failed to allocate memory.\n");
+ return 0;
+ }
+
+ index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
+ if (index == -1) {
+ fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
+ free(domain);
+ return 0;
+ }
+
+ domain->index = (unsigned int) index;
+ return domain;
+}
+
+/*****************************************************************************/
+
+ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
+ uint16_t alias, uint16_t position, uint32_t vendor_id,
+ uint32_t product_code)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_master_activate(ec_master_t *master)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ecrt_master_send(ec_master_t *master)
+{
+}
+
+/*****************************************************************************/
+
+void ecrt_master_receive(ec_master_t *master)
+{
+}
+
+/*****************************************************************************/
+
+void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
+{
+}
+
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/master.h Thu Oct 02 10:19:02 2008 +0000
@@ -0,0 +1,42 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#include "include/ecrt.h"
+
+/*****************************************************************************/
+
+struct ec_master {
+ int fd;
+};
+
+/*****************************************************************************/
--- a/master/cdev.c Thu Oct 02 07:14:00 2008 +0000
+++ b/master/cdev.c Thu Oct 02 10:19:02 2008 +0000
@@ -1373,22 +1373,41 @@
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
- ec_ioctl_request_t data;
+ ec_master_t *m;
int ret = 0;
- data.handle = ecrt_request_master(master->index);
-
- if (IS_ERR(data.handle)) {
- ret = PTR_ERR(data.handle);
+ m = ecrt_request_master(master->index);
+ if (IS_ERR(m)) {
+ ret = PTR_ERR(m);
} else {
priv->requested = 1;
- if (copy_to_user((void __user *) arg, &data, sizeof(data)))
- ret = -EFAULT;
}
return ret;
}
+/*****************************************************************************/
+
+/** Create a domain.
+ */
+int ec_cdev_ioctl_create_domain(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_domain_t *domain;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ domain = ecrt_master_create_domain(master);
+ if (!domain)
+ return -ENOMEM;
+
+ return domain->index;
+}
+
/******************************************************************************
* File operations
*****************************************************************************/
@@ -1506,6 +1525,10 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_request(master, arg, priv);
+ case EC_IOCTL_CREATE_DOMAIN:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_create_domain(master, arg, priv);
default:
return -ENOTTY;
}
--- a/master/ioctl.h Thu Oct 02 07:14:00 2008 +0000
+++ b/master/ioctl.h Thu Oct 02 10:19:02 2008 +0000
@@ -78,7 +78,9 @@
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x13, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x14, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x15, ec_ioctl_config_sdo_t)
-#define EC_IOCTL_REQUEST EC_IOR(0x16, ec_ioctl_request_t)
+
+#define EC_IOCTL_REQUEST EC_IO(0x16)
+#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x17)
#define EC_IOCTL_STRING_SIZE 64
@@ -362,12 +364,6 @@
/*****************************************************************************/
-typedef struct {
- ec_master_t *handle;
-} ec_ioctl_request_t;
-
-/*****************************************************************************/
-
/** \endcond */
#endif