--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/reg_request.c Mon Nov 03 15:20:05 2014 +0100
@@ -0,0 +1,138 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2012 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 license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/** \file
+ * EtherCAT register request functions.
+ */
+
+/*****************************************************************************/
+
+#include <stdio.h>
+#include <string.h>
+
+#include "ioctl.h"
+#include "reg_request.h"
+#include "slave_config.h"
+#include "master.h"
+
+/*****************************************************************************/
+
+void ec_reg_request_clear(ec_reg_request_t *reg)
+{
+ if (reg->data) {
+ free(reg->data);
+ }
+}
+
+/*****************************************************************************
+ * Application interface.
+ ****************************************************************************/
+
+uint8_t *ecrt_reg_request_data(ec_reg_request_t *reg)
+{
+ return reg->data;
+}
+
+/*****************************************************************************/
+
+ec_request_state_t ecrt_reg_request_state(ec_reg_request_t *reg)
+{
+ ec_ioctl_reg_request_t io;
+ int ret;
+
+ io.config_index = reg->config->index;
+ io.request_index = reg->index;
+
+ ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_STATE, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to get register request state: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return EC_REQUEST_ERROR;
+ }
+
+ if (io.new_data) { // new data waiting to be copied
+
+ io.data = reg->data;
+ io.mem_size = reg->mem_size;
+
+ ret = ioctl(reg->config->master->fd,
+ EC_IOCTL_REG_REQUEST_DATA, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to get register data: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return EC_REQUEST_ERROR;
+ }
+ }
+
+ return io.state;
+}
+
+/*****************************************************************************/
+
+void ecrt_reg_request_write(ec_reg_request_t *reg, uint16_t address,
+ size_t size)
+{
+ ec_ioctl_reg_request_t io;
+ int ret;
+
+ io.config_index = reg->config->index;
+ io.request_index = reg->index;
+ io.data = reg->data;
+ io.address = address;
+ io.transfer_size = size;
+
+ ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_WRITE, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to command an register write operation: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
+}
+
+/*****************************************************************************/
+
+void ecrt_reg_request_read(ec_reg_request_t *reg, uint16_t address,
+ size_t size)
+{
+ ec_ioctl_reg_request_t io;
+ int ret;
+
+ io.config_index = reg->config->index;
+ io.request_index = reg->index;
+ io.address = address;
+ io.transfer_size = size;
+
+ ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_READ, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to command an register read operation: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
+}
+
+/*****************************************************************************/