lib/slave_config.c
author Florian Pose <fp@igh-essen.com>
Thu, 09 Apr 2009 18:21:18 +0000
changeset 1396 9d04cc08f40f
parent 1371 00e2975dc17b
child 1413 44c2b7c0ae1a
permissions -rw-r--r--
DC sync reference clock to application time. TBC...
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/******************************************************************************
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 *  
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 *  $Id$
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 *  
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *  
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 *  This file is part of the IgH EtherCAT master userspace library.
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 *  
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 *  The IgH EtherCAT master userspace library is free software; you can
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 *  redistribute it and/or modify it under the terms of the GNU Lesser General
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 *  Public License as published by the Free Software Foundation; version 2.1
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 *  of the License.
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 *
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 *  The IgH EtherCAT master userspace library is distributed in the hope that
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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU Lesser General Public License for more details.
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 *
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 *  You should have received a copy of the GNU Lesser General Public License
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 *  along with the IgH EtherCAT master userspace library. If not, see
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 *  <http://www.gnu.org/licenses/>.
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 *  
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 *  ---
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 *  
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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#include <stdlib.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include "slave_config.h"
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#include "domain.h"
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#include "sdo_request.h"
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#include "voe_handler.h"
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#include "master.h"
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#include "master/ioctl.h"
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/*****************************************************************************/
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int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
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        ec_direction_t dir)
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{
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    ec_ioctl_config_t data;
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    unsigned int i;
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    if (sync_index >= EC_MAX_SYNC_MANAGERS)
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        return -ENOENT;
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    memset(&data, 0x00, sizeof(ec_ioctl_config_t));
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    data.config_index = sc->index;
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    data.syncs[sync_index].dir = dir;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
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        fprintf(stderr, "Failed to config sync manager: %s\n",
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                strerror(errno));
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        return -1; // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
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        uint8_t sync_index, uint16_t pdo_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.sync_index = sync_index;
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    data.index = pdo_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
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        fprintf(stderr, "Failed to add PDO: %s\n",
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                strerror(errno));
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        return -1;  // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
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        uint8_t sync_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.sync_index = sync_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
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        fprintf(stderr, "Failed to clear PDOs: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
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        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
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        uint8_t entry_bit_length)
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{
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    ec_ioctl_add_pdo_entry_t data;
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    data.config_index = sc->index;
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    data.pdo_index = pdo_index;
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    data.entry_index = entry_index;
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    data.entry_subindex = entry_subindex;
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    data.entry_bit_length = entry_bit_length;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
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        fprintf(stderr, "Failed to add PDO entry: %s\n",
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                strerror(errno));
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        return -1;  // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
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        uint16_t pdo_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.index = pdo_index;
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   136
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
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        fprintf(stderr, "Failed to clear PDO entries: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdos(ec_slave_config_t *sc,
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        unsigned int n_syncs, const ec_sync_info_t syncs[])
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{
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    int ret;
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    unsigned int i, j, k;
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    const ec_sync_info_t *sync_info;
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    const ec_pdo_info_t *pdo_info;
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    const ec_pdo_entry_info_t *entry_info;
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    if (!syncs)
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        return 0;
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    for (i = 0; i < n_syncs; i++) {
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        sync_info = &syncs[i];
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        if (sync_info->index == (uint8_t) EC_END)
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            break;
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        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
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            fprintf(stderr, "Invalid sync manager index %u!\n",
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                    sync_info->index);
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            return -ENOENT;
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        }
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        ret = ecrt_slave_config_sync_manager(
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                sc, sync_info->index, sync_info->dir);
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        if (ret)
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            return ret;
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        if (sync_info->n_pdos && sync_info->pdos) {
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            ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
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            for (j = 0; j < sync_info->n_pdos; j++) {
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                pdo_info = &sync_info->pdos[j];
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                ret = ecrt_slave_config_pdo_assign_add(
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                        sc, sync_info->index, pdo_info->index);
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                if (ret)
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                    return ret;
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                if (pdo_info->n_entries && pdo_info->entries) {
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                    ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
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                    for (k = 0; k < pdo_info->n_entries; k++) {
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                        entry_info = &pdo_info->entries[k];
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                        ret = ecrt_slave_config_pdo_mapping_add(sc,
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                                pdo_info->index, entry_info->index,
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                                entry_info->subindex,
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                                entry_info->bit_length);
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                        if (ret)
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                            return ret;
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                    }
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                }
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            }
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        }
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    }
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    return 0;
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}
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/*****************************************************************************/
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int ecrt_slave_config_reg_pdo_entry(
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        ec_slave_config_t *sc,
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        uint16_t index,
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        uint8_t subindex,
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        ec_domain_t *domain,
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        unsigned int *bit_position
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        )
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{
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    ec_ioctl_reg_pdo_entry_t data;
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    int ret;
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    data.config_index = sc->index;
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    data.entry_index = index;
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    data.entry_subindex = subindex;
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   222
    data.domain_index = domain->index;
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   223
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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
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    if (ret == -1) {
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        fprintf(stderr, "Failed to register PDO entry: %s\n",
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                strerror(errno));
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        return -2; // FIXME
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   229
    }
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   230
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   231
    if (bit_position) {
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        *bit_position = data.bit_position;
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   233
    } else {
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   234
        if (data.bit_position) {
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   235
            fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
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   236
                    "in config %u:%u.\n", index, subindex,
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   237
                    sc->alias, sc->position);
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            return -3; // FIXME
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   239
        }
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   240
    }
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   241
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    return ret;
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   243
}
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/*****************************************************************************/
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   246
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   247
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
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        uint8_t subindex, const uint8_t *sdo_data, size_t size)
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{
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    ec_ioctl_sc_sdo_t data;
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    data.config_index = sc->index;
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    data.index = index;
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    data.subindex = subindex;
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    data.data = sdo_data;
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    data.size = size;
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   257
1371
00e2975dc17b Fixed SDO configuration via library.
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   258
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
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   259
        fprintf(stderr, "Failed to configure SDO.\n");
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        return -1; // FIXME
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   261
    }
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   262
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   263
    return 0;
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   264
}
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/*****************************************************************************/
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   268
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
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   269
        uint8_t subindex, uint8_t value)
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{
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    uint8_t data[1];
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   272
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    EC_WRITE_U8(data, value);
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   274
    return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
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   275
}
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/*****************************************************************************/
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int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
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        uint8_t subindex, uint16_t value)
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{
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    uint8_t data[2];
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    EC_WRITE_U16(data, value);
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    return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
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}
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/*****************************************************************************/
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int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
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        uint8_t subindex, uint32_t value)
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{
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    uint8_t data[4];
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    EC_WRITE_U32(data, value);
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    return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
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}
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/*****************************************************************************/
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ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
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        uint16_t index, uint8_t subindex, size_t size)
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{
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    ec_ioctl_sdo_request_t data;
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    ec_sdo_request_t *req;
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   306
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    req = malloc(sizeof(ec_sdo_request_t));
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    if (!req) {
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        fprintf(stderr, "Failed to allocate memory.\n");
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        return 0;
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   311
    }
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   312
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    if (size) {
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        req->data = malloc(size);
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        if (!req->data) {
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            fprintf(stderr, "Failed to allocate %u bytes of SDO data"
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                    " memory.\n", size);
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            free(req);
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            return 0;
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   320
        }
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   321
    } else {
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        req->data = NULL;
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   323
    }
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   324
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    data.config_index = sc->index;
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    data.sdo_index = index;
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    data.sdo_subindex = subindex;
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    data.size = size;
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   329
    
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   330
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
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        fprintf(stderr, "Failed to create SDO request: %s\n",
275d2fdeab48 Implemented SDO requests in userspace library.
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   332
                strerror(errno));
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   333
        if (req->data)
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   334
            free(req->data);
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   335
        free(req);
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   336
        return NULL; 
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   337
    }
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   338
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   339
    req->config = sc;
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   340
    req->index = data.request_index;
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   341
    req->sdo_index = data.sdo_index;
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   342
    req->sdo_subindex = data.sdo_subindex;
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   343
    req->data_size = size;
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   344
    req->mem_size = size;
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   345
    return req;
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   346
}
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/*****************************************************************************/
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   349
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ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
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   351
        size_t size)
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   352
{
1264
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   353
    ec_ioctl_voe_t data;
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   354
    ec_voe_handler_t *voe;
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   355
    unsigned int index;
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   356
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   357
    voe = malloc(sizeof(ec_voe_handler_t));
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   358
    if (!voe) {
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   359
        fprintf(stderr, "Failed to allocate memory.\n");
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   360
        return 0;
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diff changeset
   361
    }
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diff changeset
   362
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   363
    if (size) {
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   364
        voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   365
        if (!voe->data) {
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   366
            fprintf(stderr, "Failed to allocate %u bytes of VoE data"
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   367
                    " memory.\n", size);
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diff changeset
   368
            free(voe);
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   369
            return 0;
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diff changeset
   370
        }
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diff changeset
   371
    } else {
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   372
        voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   373
    }
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   374
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   375
    data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   376
    data.size = size;
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   377
    
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   378
    if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   379
        fprintf(stderr, "Failed to create VoE handler: %s\n",
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   380
                strerror(errno));
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   381
        if (voe->data)
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   382
            free(voe->data);
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   383
        free(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   384
        return NULL; 
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parents: 1259
diff changeset
   385
    }
e7882f246d7a Implemented VoE handler in userspace.
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parents: 1259
diff changeset
   386
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   387
    voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   388
    voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   389
    voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   390
    voe->mem_size = size;
e7882f246d7a Implemented VoE handler in userspace.
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parents: 1259
diff changeset
   391
    return voe;
1255
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   392
}
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   393
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   394
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   395
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   396
void ecrt_slave_config_state(const ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   397
        ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   398
{
1259
5f9d1abbee71 Added state functions; writing of process data works.
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parents: 1255
diff changeset
   399
    ec_ioctl_sc_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
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parents: 1255
diff changeset
   400
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   401
    data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   402
    data.state = state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   403
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   404
    if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   405
        fprintf(stderr, "Failed to get slave configuration state: %s\n",
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   406
                strerror(errno));
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   407
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   408
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   409
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   410
/*****************************************************************************/