First version of userspace library with requesting/releasing.

2026-09-22 01:53:54 +08:00 · 2008-10-01 14:42:28 +00:00
parent 488bf0a640
commit a4ea4a4590
10 changed files with 322 additions and 15 deletions
@@ -0,0 +1,45 @@
+#------------------------------------------------------------------------------
+#
+#  $Id$
+#
+#  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.
+#
+#------------------------------------------------------------------------------
+
+AM_CFLAGS = -Wall
+
+lib_LTLIBRARIES = libethercat.la
+
+#------------------------------------------------------------------------------
+
+libethercat_la_LDFLAGS = -version-info 1:0:0
+libethercat_la_CFLAGS = -I$(srcdir)/..
+libethercat_la_SOURCES = \
+	common.c
+
+#------------------------------------------------------------------------------
@@ -0,0 +1,102 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+
+#include "include/ecrt.h"
+#include "master/ioctl.h"
+
+struct ec_master {
+    int fd;
+    void *handle;
+};
+
+/*****************************************************************************/
+
+#define MAX_PATH_LEN 64
+
+ec_master_t *ecrt_request_master(unsigned int master_index)
+{
+    char path[MAX_PATH_LEN];
+    ec_master_t *master;
+    ec_ioctl_request_t data;
+
+    master = malloc(sizeof(ec_master_t));
+    if (!master) {
+        fprintf(stderr, "Failed to allocate memory.\n");
+        return 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, &data) == -1) {
+        fprintf(stderr, "Failed to request master %u: %s\n",
+                master_index, strerror(errno));
+        close(master->fd);
+        free(master);
+        return 0; 
+    }
+
+    master->handle = data.handle;
+    return master;
+}
+
+/*****************************************************************************/
+
+void ecrt_release_master(ec_master_t *master)
+{
+    close(master->fd);
+    free(master);
+}
+
+/*****************************************************************************/
+
+unsigned int ecrt_version_magic(void)
+{
+    return ECRT_VERSION_MAGIC;
+}
+
+/*****************************************************************************/