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023d989ee3
From 9567f460411d9a832c24b3ef65252f6f4f902fef Mon Sep 17 00:00:00 2001 Xenomai version 3 has different RTDM interface with version 2 and has Alchemy interface instead of native API. This supports RTDM of Xenomai version 3 and to use Alchemy interface. Signed-off-by: Joonyoung Shim <jy0922.shim@samsung.com>
164 lines
4.5 KiB
C
164 lines
4.5 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT master userspace library.
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*
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* The IgH EtherCAT master userspace library is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Lesser General
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* Public License as published by the Free Software Foundation; version 2.1
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* of the License.
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*
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* The IgH EtherCAT master userspace library is distributed in the hope that
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with the IgH EtherCAT master userspace library. If not, see
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* <http://www.gnu.org/licenses/>.
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*
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****************************************************************************/
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/mman.h>
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#include <unistd.h>
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#include <sys/socket.h>
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#include "ioctl.h"
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#include "master.h"
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/****************************************************************************/
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unsigned int ecrt_version_magic(void)
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{
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return ECRT_VERSION_MAGIC;
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}
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/****************************************************************************/
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ec_master_t *ecrt_request_master(unsigned int master_index)
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{
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ec_master_t *master = ecrt_open_master(master_index);
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if (master) {
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if (ecrt_master_reserve(master) < 0) {
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ec_master_clear(master);
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free(master);
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master = NULL;
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}
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}
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return master;
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}
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/****************************************************************************/
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#define MAX_PATH_LEN 64
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ec_master_t *ecrt_open_master(unsigned int master_index)
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{
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char path[MAX_PATH_LEN];
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ec_master_t *master = NULL;
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ec_ioctl_module_t module_data;
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int ret;
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master = malloc(sizeof(ec_master_t));
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if (!master) {
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fprintf(stderr, "Failed to allocate memory.\n");
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return 0;
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}
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master->process_data = NULL;
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master->process_data_size = 0;
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master->first_domain = NULL;
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master->first_config = NULL;
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snprintf(path, MAX_PATH_LEN - 1,
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#if defined(USE_RTDM)
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"EtherCAT%u",
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#elif defined(USE_RTDM_XENOMAI_V3)
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"/dev/rtdm/EtherCAT%u",
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#else
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"/dev/EtherCAT%u",
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#endif
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master_index);
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#ifdef USE_RTDM
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master->fd = rt_dev_open(path, O_RDWR);
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#else
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master->fd = open(path, O_RDWR);
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#endif
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if (EC_IOCTL_IS_ERROR(master->fd)) {
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fprintf(stderr, "Failed to open %s: %s\n", path,
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strerror(EC_IOCTL_ERRNO(master->fd)));
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goto out_clear;
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}
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ret = ioctl(master->fd, EC_IOCTL_MODULE, &module_data);
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if (EC_IOCTL_IS_ERROR(ret)) {
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fprintf(stderr, "Failed to get module information from %s: %s\n",
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path, strerror(EC_IOCTL_ERRNO(ret)));
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goto out_clear;
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}
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if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {
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fprintf(stderr, "ioctl() version magic is differing:"
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" %s: %u, libethercat: %u.\n",
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path, module_data.ioctl_version_magic,
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EC_IOCTL_VERSION_MAGIC);
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goto out_clear;
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}
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return master;
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out_clear:
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ec_master_clear(master);
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free(master);
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return 0;
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}
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/****************************************************************************/
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void ecrt_release_master(ec_master_t *master)
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{
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ec_master_clear(master);
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free(master);
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}
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/****************************************************************************/
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float ecrt_read_real(const void *data)
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{
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uint32_t raw = EC_READ_U32(data);
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return *(float *) (const void *) &raw;
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}
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/****************************************************************************/
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double ecrt_read_lreal(const void *data)
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{
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uint64_t raw = EC_READ_U64(data);
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return *(double *) (const void *) &raw;
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}
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/****************************************************************************/
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void ecrt_write_real(void *data, float value)
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{
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*(uint32_t *) data = cpu_to_le32(*(uint32_t *) (void *) &value);
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}
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/****************************************************************************/
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void ecrt_write_lreal(void *data, double value)
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{
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*(uint64_t *) data = cpu_to_le64(*(uint64_t *) (void *) &value);
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}
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/****************************************************************************/
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