[etherlab-users] Userspace application.

[Gavin Lambert]

That’s not how you do register requests.

For a write request, you first call ecrt_reg_request_data() to get a pointer and then write the data to be written into that buffer.  Then you call ecrt_reg_request_write() once to start the request.  The request occurs asynchronously in the background and you have to call ecrt_reg_request_state() once per cycle to tell when it is completed.  You must not try to start another read or write or alter the data in the write buffer until after the request has completed (with success or failure).

Reads are similar; you call ecrt_reg_request_read() once to start the request, then ecrt_reg_request_state() once per cycle until it reports success (or failure) and only then read the resulting data out of the ecrt_reg_request_data() buffer.

Both operations may take an arbitrary number of cycles to complete, since they can be queued behind other requests.

You can start a read and write in the same cycle but only on separate request objects, and they will get queued anyway so there’s not much point.  You absolutely should not try to sleep in the cyclic loop – the only sleep allowed in there is the “main” sleep to wait for the next cycle.


Gavin Lambert
Senior Software Developer

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From: etherlab-users <etherlab-users-bounces at etherlab.org> On Behalf Of Shiva V M C
Sent: Thursday, 14 February 2019 00:59
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Userspace application.

Hi all,
I have done with my user space application and I m able to run the application too.
Now I want to perform 2 exercise i.e.,
1.ecrt_reg_request_write();
2.ecrt_reg_request_read();
I m able to read the particular register,but couldn't able to write on any of the register.
So,could any one help me whats happening?.

This is my code snippet.
 #define DigInSlavePos  0, 0
#define Beckhoff_EL1240 0x00000002, 0x02312862
I m doing this before activating master,

if(!(sc_dig_in = ecrt_master_slave_config(master,DigInSlavePos,Beckhoff_EL1240)))
{
fprintf(stderr, "Failed to configure BeckHoff  Salve.\n");
        return -1;
 }
regis=ecrt_slave_config_create_reg_request(sc_dig_in,127);

Then called cyclic_task as below
void cyclic_task()
  {
  ec_reg_request *regis;
  ecrt_master_receive(master);
   ecrt_domain_process(domain1);
   check_domain1_state(); //optional
   if (counter) counter--;
   else
    {   counter = FREQUENCY;
         blink = !blink;
         check_master_state(); //optional
         check_slave_config_states(); //optional;
         ecrt_reg_request_write(regis,0xf80, 64);
         sleep(1);
         ecrt_reg_request_read(regis,0xf80, 64);
        // send process data
         ecrt_domain_queue(domain1);
         ecrt_master_send(master);
      }
}


--
Thanks & Regards
Shiva V M C
09880153358
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