mirror of
https://gitlab.com/etherlab.org/ethercat.git
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103 lines
3.1 KiB
C
103 lines
3.1 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* 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 "include/ecrt.h"
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#include "master/ioctl.h"
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struct ec_master {
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int fd;
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void *handle;
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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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ec_ioctl_request_t data;
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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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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, &data) == -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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master->handle = data.handle;
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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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close(master->fd);
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free(master);
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}
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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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