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https://gitlab.com/etherlab.org/ethercat.git
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104 lines
3.2 KiB
C
104 lines
3.2 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006-2008 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 of
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* 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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* The right to use EtherCAT Technology is granted and comes free of charge
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* under condition of compatibility of product made by Licensee. People
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* intending to distribute/sell products based on the code, have to sign an
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* agreement to guarantee that products using software based on IgH EtherCAT
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* master stay compatible with the actual EtherCAT specification (which are
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* released themselves as an open standard) as the (only) precondition to have
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* the right to use EtherCAT Technology, IP and trade marks.
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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 <errno.h>
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#include <string.h>
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#include <sys/ioctl.h>
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#include <sys/mman.h>
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#include "master.h"
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#include "master/ioctl.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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#define MAX_PATH_LEN 64
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ec_master_t *ecrt_request_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;
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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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snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
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master->fd = open(path, O_RDWR);
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if (master->fd == -1) {
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fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
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free(master);
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return 0;
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}
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if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
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fprintf(stderr, "Failed to request master %u: %s\n",
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master_index, strerror(errno));
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close(master->fd);
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free(master);
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return 0;
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}
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return master;
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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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if (master->process_data) {
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munmap(master->process_data, master->process_data_size);
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}
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close(master->fd);
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free(master);
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}
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/*****************************************************************************/
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