mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-02-05 19:39:50 +08:00
132 lines
3.8 KiB
C
132 lines
3.8 KiB
C
/*****************************************************************************
|
|
*
|
|
* Copyright (C) 2012-2019 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/>.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/** \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);
|
|
reg->data = NULL;
|
|
}
|
|
}
|
|
|
|
/*****************************************************************************
|
|
* Application interface.
|
|
****************************************************************************/
|
|
|
|
uint8_t *ecrt_reg_request_data(const ec_reg_request_t *reg)
|
|
{
|
|
return reg->data;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
ec_request_state_t ecrt_reg_request_state(const 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;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
int 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)) {
|
|
return -EC_IOCTL_ERRNO(ret);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
int 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)) {
|
|
return -EC_IOCTL_ERRNO(ret);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************/
|