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This commit is contained in:
Martin Troxler
2010-04-29 14:05:15 +02:00
parent ebf45392dc 02b27f9fbc
commit 82ea99132c
67 changed files with 50116 additions and 935 deletions
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lib/master.c
+52 -8
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@@ -264,10 +264,8 @@ int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
download.data = data;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
if (errno == -EIO) {
if (abort_code) {
*abort_code = download.abort_code;
}
if (errno == EIO && abort_code) {
*abort_code = download.abort_code;
}
fprintf(stderr, "Failed to execute SDO download: %s\n",
strerror(errno));
@@ -292,10 +290,8 @@ int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
upload.target = target;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
if (errno == -EIO) {
if (abort_code) {
*abort_code = upload.abort_code;
}
if (errno == EIO && abort_code) {
*abort_code = upload.abort_code;
}
fprintf(stderr, "Failed to execute SDO upload: %s\n",
strerror(errno));
@@ -308,6 +304,54 @@ int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
/*****************************************************************************/
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
uint16_t idn, uint8_t *data, size_t data_size, uint32_t *error_code)
{
ec_ioctl_slave_soe_write_t io;
io.slave_position = slave_position;
io.idn = idn;
io.data_size = data_size;
io.data = data;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io) == -1) {
if (errno == EIO && error_code) {
*error_code = io.error_code;
}
fprintf(stderr, "Failed to write IDN: %s\n", strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint32_t *error_code)
{
ec_ioctl_slave_soe_read_t io;
io.slave_position = slave_position;
io.idn = idn;
io.mem_size = target_size;
io.data = target;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io) == -1) {
if (errno == EIO && error_code) {
*error_code = io.error_code;
}
fprintf(stderr, "Failed to read IDN: %s\n", strerror(errno));
return -1;
}
*result_size = io.data_size;
return 0;
}
/*****************************************************************************/
int ecrt_master_activate(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_ACTIVATE,