diff -r 86ebf18a029f -r 2c3ccdde3919 lib/reg_request.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/reg_request.c Wed Nov 14 22:12:57 2012 +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 + * . + * + * --- + * + * 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 +#include + +#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))); + } +} + +/*****************************************************************************/