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Reverted accidential checkin.

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This commit is contained in:
Florian Pose
2009-07-10 09:38:07 +00:00
parent 36ff1cb8fa
commit 87bd9ded3e
5 changed files with 38 additions and 141 deletions
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lib/common.c
+29 -37
View File
@@ -50,15 +50,37 @@ unsigned int ecrt_version_magic(void)
/*****************************************************************************/
#define MAX_PATH_LEN 64
ec_master_t *ecrt_request_master(unsigned int master_index)
{
ec_master_t *master = ecrt_open_master(master_index);
if (master) {
if (ecrt_master_reserve(master) < 0) {
close(master->fd);
free(master);
master = 0;
}
char path[MAX_PATH_LEN];
ec_master_t *master;
master = malloc(sizeof(ec_master_t));
if (!master) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
master->process_data = NULL;
master->process_data_size = 0;
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
master->fd = open(path, O_RDWR);
if (master->fd == -1) {
fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
free(master);
return 0;
}
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);
free(master);
return 0;
}
return master;
@@ -66,36 +88,6 @@ ec_master_t *ecrt_request_master(unsigned int master_index)
/*****************************************************************************/
#define MAX_PATH_LEN 64
ec_master_t *ecrt_open_master(unsigned int master_index)
{
char path[MAX_PATH_LEN];
ec_master_t *master;
master = malloc(sizeof(ec_master_t));
if (!master) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
master->process_data = NULL;
master->process_data_size = 0;
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
master->fd = open(path, O_RDWR);
if (master->fd == -1) {
fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
free(master);
return 0;
}
return master;
}
/*****************************************************************************/
void ecrt_release_master(ec_master_t *master)
{
if (master->process_data) {
lib/master.c
-30
View File
@@ -42,17 +42,6 @@
/*****************************************************************************/
int ecrt_master_reserve(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
fprintf(stderr, "Failed to reserve master: %s\n",
strerror(errno));
return -1;
}
}
/*****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
{
ec_domain_t *domain;
@@ -112,25 +101,6 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
return sc;
}
/*****************************************************************************/
int ecrt_master(ec_master_t* master,
ec_master_info_t *master_info)
{
ec_ioctl_master_t data;
if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
fprintf(stderr, "Failed to get master info: %s\n",
strerror(errno));
return -1;
}
master_info->slave_count = data.slave_count;
master_info->link_up = data.devices[0].link_state;
master_info->app_time = data.app_time;
return 0;
}
/*****************************************************************************/
int ecrt_master_slave(ec_master_t *master, uint16_t position,