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ethercat
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First version of userspace library with requesting/releasing.

This commit is contained in:
Florian Pose 2008-10-01 14:42:28 +00:00
parent 488bf0a640
commit a4ea4a4590
10 changed files with 322 additions and 15 deletions
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17
Makefile.am
View File

@ -38,10 +38,15 @@ SUBDIRS = \
script \
tool
if ENABLE_USERLIB
SUBDIRS += lib
endif
DIST_SUBDIRS = \
devices \
examples \
include \
lib \
master \
script \
tool
@ -80,21 +85,25 @@ dist-hook:
mrproper: clean cleandoc
rm -rf \
*~ \
aclocal.m4 \
autoconf \
autom4te.cache \
ChangeLog \
config.h \
config.h.in \
config.log \
config.status \
configure.in \
configure \
configure.in \
Doxyfile \
Kbuild \
libtool \
Makefile \
Makefile.in \
Module.symvers \
stamp-h1 \
ChangeLog \
Kbuild \
*~
TAGS
doc:
doxygen Doxyfile

6
bootstrap
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@ -3,9 +3,5 @@
# $Id$
set -x
mkdir -p autoconf
aclocal -I autoconf
autoheader
touch ChangeLog
automake --add-missing --copy
autoconf
autoreconf -i

25
configure.ac
View File

@ -15,6 +15,7 @@ AC_CONFIG_SRCDIR([config.h.in])
#------------------------------------------------------------------------------
AC_PROG_CXX
AC_PROG_LIBTOOL
#------------------------------------------------------------------------------
# Linux sources
@ -368,6 +369,28 @@ if test "x${cycles}" = "x1"; then
AC_DEFINE([EC_HAVE_CYCLES], [1], [Use CPU timestamp counter])
fi
#------------------------------------------------------------------------------
# Userspace library generation
#------------------------------------------------------------------------------
AC_ARG_ENABLE([userlib],
AS_HELP_STRING([--enable-userlib],
[Generation of the userspace library (default: yes)]),
[
case "${enableval}" in
yes) userlib=1
;;
no) userlib=0
;;
*) AC_MSG_ERROR([Invalid value for --enable-userlib])
;;
esac
],
[userlib=1]
)
AM_CONDITIONAL(ENABLE_USERLIB, test "x$userlib" = "x1")
#------------------------------------------------------------------------------
AC_CONFIG_FILES([
@ -383,7 +406,9 @@ AC_CONFIG_FILES([
examples/mini/Makefile
examples/rtai/Kbuild
examples/rtai/Makefile
examples/user/Makefile
include/Makefile
lib/Makefile
master/Kbuild
master/Makefile
script/Makefile

5
examples/Makefile.am
View File

@ -31,6 +31,9 @@
#
#------------------------------------------------------------------------------
DIST_SUBDIRS = mini rtai
DIST_SUBDIRS = \
mini \
rtai \
user
#------------------------------------------------------------------------------

42
examples/user/Makefile.am Normal file
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@ -0,0 +1,42 @@
#------------------------------------------------------------------------------
#
# $Id$
#
# 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
noinst_PROGRAMS = ec_user_example
ec_user_example_SOURCES = main.c
ec_user_example_CFLAGS = -I$(srcdir)/../../include
ec_user_example_LDFLAGS = -L$(srcdir)/../../lib/.libs -lethercat
#------------------------------------------------------------------------------

25
examples/user/main.c Normal file
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@ -0,0 +1,25 @@
/*****************************************************************************
*
* $Id$
*
****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
int main(int argc, char **argv)
{
ec_master_t *master = ecrt_request_master(0);
if (!master)
return -1;
while (1) {
sleep(1);
}
return 0;
}
/****************************************************************************/

45
lib/Makefile.am Normal file
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@ -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
#------------------------------------------------------------------------------

102
lib/common.c Normal file
View File

@ -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;
}
/*****************************************************************************/

63
master/cdev.c
View File

@ -66,6 +66,15 @@ static struct file_operations eccdev_fops = {
/*****************************************************************************/
/** Private data structure for file handles.
*/
typedef struct {
ec_cdev_t *cdev;
unsigned int requested;
} ec_cdev_priv_t;
/*****************************************************************************/
/** Constructor.
*
* \return 0 in case of success, else < 0
@ -1354,6 +1363,32 @@ int ec_cdev_ioctl_config_sdo(
return 0;
}
/*****************************************************************************/
/** Request the master from userspace.
*/
int ec_cdev_ioctl_request(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_request_t data;
int ret = 0;
data.handle = ecrt_request_master(master->index);
if (IS_ERR(data.handle)) {
ret = PTR_ERR(data.handle);
} else {
priv->requested = 1;
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ret = -EFAULT;
}
return ret;
}
/******************************************************************************
* File operations
*****************************************************************************/
@ -1364,8 +1399,18 @@ int eccdev_open(struct inode *inode, struct file *filp)
{
ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
ec_master_t *master = cdev->master;
ec_cdev_priv_t *priv;
filp->private_data = cdev;
priv = kmalloc(sizeof(ec_cdev_priv_t), GFP_KERNEL);
if (!priv) {
EC_ERR("Failed to allocate memory for private data structure.\n");
return -ENOMEM;
}
priv->cdev = cdev;
priv->requested = 0;
filp->private_data = priv;
if (master->debug_level)
EC_DBG("File opened.\n");
return 0;
@ -1377,11 +1422,15 @@ int eccdev_open(struct inode *inode, struct file *filp)
*/
int eccdev_release(struct inode *inode, struct file *filp)
{
ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
ec_master_t *master = cdev->master;
ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
ec_master_t *master = priv->cdev->master;
if (priv->requested)
ecrt_release_master(master);
if (master->debug_level)
EC_DBG("File closed.\n");
kfree(priv);
return 0;
}
@ -1391,8 +1440,8 @@ int eccdev_release(struct inode *inode, struct file *filp)
*/
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
{
ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
ec_master_t *master = cdev->master;
ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
ec_master_t *master = priv->cdev->master;
if (master->debug_level)
EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",
@ -1453,6 +1502,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
return ec_cdev_ioctl_config_pdo_entry(master, arg);
case EC_IOCTL_CONFIG_SDO:
return ec_cdev_ioctl_config_sdo(master, arg);
case EC_IOCTL_REQUEST:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_request(master, arg, priv);
default:
return -ENOTTY;
}

7
master/ioctl.h
View File

@ -78,6 +78,7 @@
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x13, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x14, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x15, ec_ioctl_config_sdo_t)
#define EC_IOCTL_REQUEST EC_IOR(0x16, ec_ioctl_request_t)
#define EC_IOCTL_STRING_SIZE 64
@ -361,6 +362,12 @@ typedef struct {
/*****************************************************************************/
typedef struct {
ec_master_t *handle;
} ec_ioctl_request_t;
/*****************************************************************************/
/** \endcond */
#endif