equal
deleted
inserted
replaced
334 return 0; |
334 return 0; |
335 } |
335 } |
336 |
336 |
337 /*****************************************************************************/ |
337 /*****************************************************************************/ |
338 |
338 |
|
339 void ecrt_master_deactivate(ec_master_t *master) |
|
340 { |
|
341 if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) { |
|
342 fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno)); |
|
343 return; |
|
344 } |
|
345 } |
|
346 |
|
347 /*****************************************************************************/ |
|
348 |
339 void ecrt_master_send(ec_master_t *master) |
349 void ecrt_master_send(ec_master_t *master) |
340 { |
350 { |
341 if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) { |
351 if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) { |
342 fprintf(stderr, "Failed to send: %s\n", strerror(errno)); |
352 fprintf(stderr, "Failed to send: %s\n", strerror(errno)); |
343 } |
353 } |
393 fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno)); |
403 fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno)); |
394 } |
404 } |
395 } |
405 } |
396 |
406 |
397 /*****************************************************************************/ |
407 /*****************************************************************************/ |
|
408 |
|
409 void ecrt_master_sync_monitor_queue(ec_master_t *master) |
|
410 { |
|
411 if (ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL) == -1) { |
|
412 fprintf(stderr, "Failed to queue sync monitor datagram: %s\n", |
|
413 strerror(errno)); |
|
414 } |
|
415 } |
|
416 |
|
417 /*****************************************************************************/ |
|
418 |
|
419 uint32_t ecrt_master_sync_monitor_process(ec_master_t *master) |
|
420 { |
|
421 uint32_t time_diff; |
|
422 |
|
423 if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) { |
|
424 time_diff = 0xffffffff; |
|
425 fprintf(stderr, "Failed to process sync monitor datagram: %s\n", |
|
426 strerror(errno)); |
|
427 } |
|
428 |
|
429 return time_diff; |
|
430 } |
|
431 |
|
432 /*****************************************************************************/ |