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This commit is contained in:
Florian Pose
2016-01-22 13:09:43 +01:00
parent 9486892f7b 45839e8666
commit 4d70145d53
25 changed files with 627 additions and 144 deletions
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lib/master.c
+20 -11
View File
@@ -60,6 +60,11 @@ void ec_master_clear_config(ec_master_t *master)
ec_domain_t *d, *next_d;
ec_slave_config_t *c, *next_c;
if (master->process_data) {
munmap(master->process_data, master->process_data_size);
master->process_data = NULL;
}
d = master->first_domain;
while (d) {
next_d = d->next;
@@ -81,10 +86,6 @@ void ec_master_clear_config(ec_master_t *master)
void ec_master_clear(ec_master_t *master)
{
if (master->process_data) {
munmap(master->process_data, master->process_data_size);
}
ec_master_clear_config(master);
if (master->fd != -1) {
@@ -389,7 +390,7 @@ int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
/****************************************************************************/
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
uint16_t index, uint8_t subindex, uint8_t *data,
uint16_t index, uint8_t subindex, const uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_ioctl_slave_sdo_download_t download;
@@ -418,7 +419,7 @@ int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
/****************************************************************************/
int ecrt_master_sdo_download_complete(ec_master_t *master,
uint16_t slave_position, uint16_t index, uint8_t *data,
uint16_t slave_position, uint16_t index, const uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_ioctl_slave_sdo_download_t download;
@@ -606,15 +607,18 @@ int ecrt_master_set_send_interval(ec_master_t *master,
/****************************************************************************/
void ecrt_master_send(ec_master_t *master)
size_t ecrt_master_send(ec_master_t *master)
{
int ret;
size_t sent_bytes = 0;
ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
ret = ioctl(master->fd, EC_IOCTL_SEND, &sent_bytes);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to send: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
return sent_bytes;
}
/****************************************************************************/
@@ -714,11 +718,16 @@ int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get reference clock time: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
ret = EC_IOCTL_ERRNO(ret);
if (ret != EIO && ret != ENXIO) {
// do not log if no refclk or no refclk time yet
fprintf(stderr, "Failed to get reference clock time: %s\n",
strerror(ret));
}
return -ret;
}
return ret;
return 0;
}
/****************************************************************************/
lib/slave_config.c
+17
View File
@@ -120,6 +120,23 @@ void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
/*****************************************************************************/
void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,
uint8_t allow_overlapping_pdos)
{
ec_ioctl_config_t data;
memset(&data, 0, sizeof(ec_ioctl_config_t));
data.config_index = sc->index;
data.allow_overlapping_pdos = allow_overlapping_pdos;
if (ioctl(sc->master->fd, EC_IOCTL_SC_OVERLAPPING_IO, &data) == -1) {
fprintf(stderr, "Failed to config overlapping PDOs: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
uint8_t sync_index, uint16_t pdo_index)
{