fp@2589: /******************************************************************************
fp@2589:  *
fp@2589:  *  $Id$
fp@2589:  *
fp@2589:  *  Copyright (C) 2012  Florian Pose, Ingenieurgemeinschaft IgH
fp@2589:  *
fp@2589:  *  This file is part of the IgH EtherCAT master userspace library.
fp@2589:  *
fp@2589:  *  The IgH EtherCAT master userspace library is free software; you can
fp@2589:  *  redistribute it and/or modify it under the terms of the GNU Lesser General
fp@2589:  *  Public License as published by the Free Software Foundation; version 2.1
fp@2589:  *  of the License.
fp@2589:  *
fp@2589:  *  The IgH EtherCAT master userspace library is distributed in the hope that
fp@2589:  *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
fp@2589:  *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@2589:  *  GNU Lesser General Public License for more details.
fp@2589:  *
fp@2589:  *  You should have received a copy of the GNU Lesser General Public License
fp@2589:  *  along with the IgH EtherCAT master userspace library. If not, see
fp@2589:  *  <http://www.gnu.org/licenses/>.
fp@2589:  *
fp@2589:  *  ---
fp@2589:  *
fp@2589:  *  The license mentioned above concerns the source code only. Using the
fp@2589:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@2589:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@2589:  *
fp@2589:  *****************************************************************************/
fp@2589: 
fp@2589: /** \file
fp@2589:  * EtherCAT register request functions.
fp@2589:  */
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: #include <stdio.h>
fp@2589: #include <string.h>
fp@2589: 
fp@2589: #include "ioctl.h"
fp@2589: #include "reg_request.h"
fp@2589: #include "slave_config.h"
fp@2589: #include "master.h"
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: void ec_reg_request_clear(ec_reg_request_t *reg)
fp@2589: {
fp@2589:     if (reg->data) {
fp@2589:         free(reg->data);
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************
fp@2589:  * Application interface.
fp@2589:  ****************************************************************************/
fp@2589: 
fp@2589: uint8_t *ecrt_reg_request_data(ec_reg_request_t *reg)
fp@2589: {
fp@2589:     return reg->data;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: ec_request_state_t ecrt_reg_request_state(ec_reg_request_t *reg)
fp@2589: {
fp@2589:     ec_ioctl_reg_request_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = reg->config->index;
fp@2589:     io.request_index = reg->index;
fp@2589: 
fp@2589:     ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_STATE, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to get register request state: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return EC_REQUEST_ERROR;
fp@2589:     }
fp@2589: 
fp@2589:     if (io.new_data) { // new data waiting to be copied
fp@2589: 
fp@2589:         io.data = reg->data;
fp@2589:         io.mem_size = reg->mem_size;
fp@2589: 
fp@2589:         ret = ioctl(reg->config->master->fd,
fp@2589:                 EC_IOCTL_REG_REQUEST_DATA, &io);
fp@2589:         if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:             fprintf(stderr, "Failed to get register data: %s\n",
fp@2589:                     strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:             return EC_REQUEST_ERROR;
fp@2589:         }
fp@2589:     }
fp@2589: 
fp@2589:     return io.state;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: void ecrt_reg_request_write(ec_reg_request_t *reg, uint16_t address,
fp@2589:         size_t size)
fp@2589: {
fp@2589:     ec_ioctl_reg_request_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = reg->config->index;
fp@2589:     io.request_index = reg->index;
fp@2589:     io.data = reg->data;
fp@2589:     io.address = address;
fp@2589:     io.transfer_size = size;
fp@2589: 
fp@2589:     ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_WRITE, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to command an register write operation: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: void ecrt_reg_request_read(ec_reg_request_t *reg, uint16_t address,
fp@2589:         size_t size)
fp@2589: {
fp@2589:     ec_ioctl_reg_request_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = reg->config->index;
fp@2589:     io.request_index = reg->index;
fp@2589:     io.address = address;
fp@2589:     io.transfer_size = size;
fp@2589: 
fp@2589:     ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_READ, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to command an register read operation: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/