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Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.

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This commit is contained in:
Florian Pose
2013-02-05 16:45:34 +01:00
parent 23c725a79c
commit ebf9c296f3
5 changed files with 238 additions and 35 deletions
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lib/slave_config.c
+41
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@@ -305,6 +305,47 @@ int ecrt_slave_config_reg_pdo_entry(
/*****************************************************************************/
int ecrt_slave_config_reg_pdo_entry_pos(
ec_slave_config_t *sc,
uint8_t sync_index,
unsigned int pdo_pos,
unsigned int entry_pos,
ec_domain_t *domain,
unsigned int *bit_position
)
{
ec_ioctl_reg_pdo_pos_t io;
int ret;
io.config_index = sc->index;
io.sync_index = sync_index;
io.pdo_pos = pdo_pos;
io.entry_pos = entry_pos;
io.domain_index = domain->index;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_POS, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to register PDO entry: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
if (bit_position) {
*bit_position = io.bit_position;
} else {
if (io.bit_position) {
fprintf(stderr, "PDO entry %u/%u/%u does not byte-align "
"in config %u:%u.\n", sync_index, pdo_pos, entry_pos,
sc->alias, sc->position);
return -EFAULT;
}
}
return ret;
}
/*****************************************************************************/
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
uint32_t sync0_cycle_time, int32_t sync0_shift_time,
uint32_t sync1_cycle_time, int32_t sync1_shift_time)