ethercat/lib/master.c

/******************************************************************************
 *  
 * $Id$
 * 
 * Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
 * 
 * This file is part of the IgH EtherCAT master userspace library.
 * 
 * The IgH EtherCAT master userspace library is free software; you can
 * redistribute it and/or modify it under the terms of the GNU Lesser General
 * Public License as published by the Free Software Foundation; version 2.1 of
 * the License.
 *
 * The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with the IgH EtherCAT master userspace library. If not, see
 * <http://www.gnu.org/licenses/>.
 * 
 * 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 <sys/mman.h>

#include "master.h"
#include "domain.h"
#include "slave_config.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;
    domain->master = master;
    domain->process_data = NULL;
    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)
{
    ec_ioctl_config_t data;
    ec_slave_config_t *sc;
    int index;

    sc = malloc(sizeof(ec_slave_config_t));
    if (!sc) {
        fprintf(stderr, "Failed to allocate memory.\n");
        return 0;
    }
    
    data.alias = alias;
    data.position = position;
    data.vendor_id = vendor_id;
    data.product_code = product_code;
    
    if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
        fprintf(stderr, "Failed to create slave config: %s\n",
                strerror(errno));
        free(sc);
        return 0; 
    }

    sc->master = master;
    sc->index = data.config_index;
    sc->alias = alias;
    sc->position = position;
    return sc;
}

/*****************************************************************************/

int ecrt_master_activate(ec_master_t *master)
{
    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
                &master->process_data_size) == -1) {
        fprintf(stderr, "Failed to activate master: %s\n",
                strerror(errno));
        return -1; 
    }

    if (master->process_data_size) {
        master->process_data = mmap(0, master->process_data_size,
                PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
        if (master->process_data == MAP_FAILED) {
            fprintf(stderr, "Failed to map process data: %s", strerror(errno));
            master->process_data = NULL;
            master->process_data_size = 0;
            return -1;
        }

        // Access the mapped region to cause the initial page fault
        printf("pd: %x\n", master->process_data[0]);
    }

    return 0;
}

/*****************************************************************************/

void ecrt_master_send(ec_master_t *master)
{
    if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
        fprintf(stderr, "Failed to send: %s\n", strerror(errno));
    }
}

/*****************************************************************************/

void ecrt_master_receive(ec_master_t *master)
{
    if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
        fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
    }
}

/*****************************************************************************/

void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
    if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
        fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
    }
}

/*****************************************************************************/