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Userspace library implementation of DC functions.

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This commit is contained in:
Florian Pose
2009-04-23 14:45:07 +00:00
parent 4b4dc8a5b5
commit ddd707d8be
5 changed files with 286 additions and 27 deletions
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lib/master.c
+25
View File
@@ -189,3 +189,28 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
}
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master,
const struct timeval *app_time)
{
ec_ioctl_dc_t data;
data.app_time.tv_sec = app_time->tv_sec;
data.app_time.tv_usec = app_time->tv_usec;
if (ioctl(master->fd, EC_IOCTL_SYNC_REF, &data) == -1) {
fprintf(stderr, "Failed to sync reference clock: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
void ecrt_master_sync_slave_clocks(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) {
fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno));
}
}
/*****************************************************************************/
lib/slave_config.c
+47
View File
@@ -244,6 +244,53 @@ int ecrt_slave_config_reg_pdo_entry(
/*****************************************************************************/
void ecrt_slave_config_dc_assign_activate(ec_slave_config_t *sc,
uint16_t assign_activate)
{
ec_ioctl_sc_dc_t data;
data.config_index = sc->index;
data.assign_activate = assign_activate;
if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_ASSIGN, &data) == -1) {
fprintf(stderr, "Failed to set assign_activate word.\n");
}
}
/*****************************************************************************/
void ecrt_slave_config_dc_sync_cycle_times(ec_slave_config_t *sc,
uint32_t sync0_cycle_time, uint32_t sync1_cycle_time)
{
ec_ioctl_sc_dc_t data;
data.config_index = sc->index;
data.cycle[0] = sync0_cycle_time;
data.cycle[1] = sync1_cycle_time;
if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_CYCLE, &data) == -1) {
fprintf(stderr, "Failed to set assign_activate word.\n");
}
}
/*****************************************************************************/
void ecrt_slave_config_dc_sync_shift_times(ec_slave_config_t *sc,
uint32_t sync0_shift_time, uint32_t sync1_shift_time)
{
ec_ioctl_sc_dc_t data;
data.config_index = sc->index;
data.shift[0] = sync0_shift_time;
data.shift[1] = sync1_shift_time;
if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_SHIFT, &data) == -1) {
fprintf(stderr, "Failed to set assign_activate word.\n");
}
}
/*****************************************************************************/
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, const uint8_t *sdo_data, size_t size)
{