lib/reg_request.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Tue, 12 Apr 2016 11:17:36 +0200
branchstable-1.5
changeset 2654 b3f6b3e5ef29
parent 2443 2c3ccdde3919
permissions -rw-r--r--
devices/ccat: revert "limit rx processing to one frame per poll"

revert "limit rx processing to one frame per poll", which caused etherlab
frame timeouts in setups with more than one frame per cycle.
/******************************************************************************
 *
 *  $Id$
 *
 *  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)));
    }
}

/*****************************************************************************/