--- /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)));
+    }
+}
+
+/*****************************************************************************/