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Added watchdog configuration via application interface (thanks to J. Mohre).

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This commit is contained in:
Florian Pose
2009-07-27 10:48:52 +00:00
parent 911bf6dbdc
commit 4f4ac6e4fa
13 changed files with 320 additions and 57 deletions
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lib/slave_config.c
+23 -3
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@@ -44,7 +44,7 @@
/*****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
ec_direction_t dir)
ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
{
ec_ioctl_config_t data;
unsigned int i;
@@ -55,6 +55,8 @@ int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
memset(&data, 0x00, sizeof(ec_ioctl_config_t));
data.config_index = sc->index;
data.syncs[sync_index].dir = dir;
data.syncs[sync_index].watchdog_mode = watchdog_mode;
data.syncs[sync_index].config_this = 1;
if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
fprintf(stderr, "Failed to config sync manager: %s\n",
@@ -67,6 +69,24 @@ int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
/*****************************************************************************/
void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
uint16_t divider, uint16_t intervals)
{
ec_ioctl_config_t data;
memset(&data, 0x00, sizeof(ec_ioctl_config_t));
data.config_index = sc->index;
data.watchdog_divider = divider;
data.watchdog_intervals = intervals;
if (ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data) == -1) {
fprintf(stderr, "Failed to config watchdog: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
uint8_t sync_index, uint16_t pdo_index)
{
@@ -166,8 +186,8 @@ int ecrt_slave_config_pdos(ec_slave_config_t *sc,
return -ENOENT;
}
ret = ecrt_slave_config_sync_manager(
sc, sync_info->index, sync_info->dir);
ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
sync_info->dir, sync_info->watchdog_mode);
if (ret)
return ret;