author | Florian Pose <fp@igh.de> |
Thu, 12 Oct 2017 13:08:15 +0200 | |
branch | stable-1.5 |
changeset 2686 | 91cb9cf20f6c |
parent 2443 | 2c3ccdde3919 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 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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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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|
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/** \file |
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* EtherCAT register request functions. |
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*/ |
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/*****************************************************************************/ |
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#include <stdio.h> |
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#include <string.h> |
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#include "ioctl.h" |
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#include "reg_request.h" |
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#include "slave_config.h" |
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#include "master.h" |
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/*****************************************************************************/ |
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void ec_reg_request_clear(ec_reg_request_t *reg) |
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{ |
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if (reg->data) { |
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free(reg->data); |
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} |
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} |
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/***************************************************************************** |
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* Application interface. |
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****************************************************************************/ |
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uint8_t *ecrt_reg_request_data(ec_reg_request_t *reg) |
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{ |
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return reg->data; |
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} |
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/*****************************************************************************/ |
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ec_request_state_t ecrt_reg_request_state(ec_reg_request_t *reg) |
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{ |
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ec_ioctl_reg_request_t io; |
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int ret; |
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io.config_index = reg->config->index; |
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io.request_index = reg->index; |
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ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_STATE, &io); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to get register request state: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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return EC_REQUEST_ERROR; |
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} |
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if (io.new_data) { // new data waiting to be copied |
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io.data = reg->data; |
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io.mem_size = reg->mem_size; |
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ret = ioctl(reg->config->master->fd, |
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EC_IOCTL_REG_REQUEST_DATA, &io); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to get register data: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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return EC_REQUEST_ERROR; |
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} |
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} |
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return io.state; |
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} |
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/*****************************************************************************/ |
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void ecrt_reg_request_write(ec_reg_request_t *reg, uint16_t address, |
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size_t size) |
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{ |
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ec_ioctl_reg_request_t io; |
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int ret; |
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io.config_index = reg->config->index; |
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io.request_index = reg->index; |
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io.data = reg->data; |
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io.address = address; |
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io.transfer_size = size; |
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|
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ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_WRITE, &io); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to command an register write operation: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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} |
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} |
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/*****************************************************************************/ |
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void ecrt_reg_request_read(ec_reg_request_t *reg, uint16_t address, |
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size_t size) |
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{ |
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ec_ioctl_reg_request_t io; |
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int ret; |
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io.config_index = reg->config->index; |
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io.request_index = reg->index; |
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io.address = address; |
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io.transfer_size = size; |
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|
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ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_READ, &io); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to command an register read operation: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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} |
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} |
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/*****************************************************************************/ |