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Implemented CompleteAccess for SDO downloads.

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This commit is contained in:
Florian Pose
2009-08-13 13:53:56 +02:00
parent 454d502ada
commit 10c7501851
11 changed files with 146 additions and 30 deletions
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lib/slave_config.c
+23
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@@ -294,6 +294,29 @@ int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
data.subindex = subindex;
data.data = sdo_data;
data.size = size;
data.complete_access = 0;
if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
fprintf(stderr, "Failed to configure SDO.\n");
return -1; // FIXME
}
return 0;
}
/*****************************************************************************/
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
const uint8_t *sdo_data, size_t size)
{
ec_ioctl_sc_sdo_t data;
data.config_index = sc->index;
data.index = index;
data.subindex = 0;
data.data = sdo_data;
data.size = size;
data.complete_access = 1;
if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
fprintf(stderr, "Failed to configure SDO.\n");