Fixed hex display of slave position; thanks to Henry Bausley.
/******************************************************************************
*
* $Id$
*
* 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)));
}
}
/*****************************************************************************/