124 master->stats.timeouts = 0; |
124 master->stats.timeouts = 0; |
125 master->stats.delayed = 0; |
125 master->stats.delayed = 0; |
126 master->stats.corrupted = 0; |
126 master->stats.corrupted = 0; |
127 master->stats.unmatched = 0; |
127 master->stats.unmatched = 0; |
128 master->stats.t_last = 0; |
128 master->stats.t_last = 0; |
129 } |
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130 |
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131 /*****************************************************************************/ |
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132 |
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133 /** |
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134 Öffnet das EtherCAT-Geraet des Masters. |
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135 |
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136 \return 0 wenn alles ok, < 0 wenn kein Gerät registriert wurde oder |
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137 es nicht geoeffnet werden konnte. |
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138 */ |
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139 |
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140 int ec_master_open(ec_master_t *master /**< Der EtherCAT-Master */) |
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141 { |
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142 if (!master->device) { |
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143 EC_ERR("No device registered!\n"); |
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144 return -1; |
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145 } |
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146 |
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147 if (ec_device_open(master->device)) { |
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148 EC_ERR("Could not open device!\n"); |
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149 return -1; |
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150 } |
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151 |
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152 return 0; |
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153 } |
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154 |
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155 /*****************************************************************************/ |
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156 |
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157 /** |
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158 Schliesst das EtherCAT-Geraet, auf dem der Master arbeitet. |
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159 */ |
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160 |
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161 void ec_master_close(ec_master_t *master /**< EtherCAT-Master */) |
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162 { |
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163 if (!master->device) { |
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164 EC_WARN("Warning - Trying to close an unregistered device!\n"); |
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165 return; |
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166 } |
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167 |
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168 if (ec_device_close(master->device)) |
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169 EC_WARN("Warning - Could not close device!\n"); |
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170 } |
129 } |
171 |
130 |
172 /*****************************************************************************/ |
131 /*****************************************************************************/ |
173 |
132 |
174 /** |
133 /** |