257 } |
257 } |
258 } |
258 } |
259 |
259 |
260 /*****************************************************************************/ |
260 /*****************************************************************************/ |
261 |
261 |
262 void ecrt_slave_config_dc_sync_cycle_times(ec_slave_config_t *sc, |
262 void ecrt_slave_config_dc_sync_signals(ec_slave_config_t *sc, |
263 uint32_t sync0_cycle_time, uint32_t sync1_cycle_time) |
263 uint32_t sync0_cycle_time, uint32_t sync0_shift_time, |
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264 uint32_t sync1_cycle_time, uint32_t sync1_shift_time) |
264 { |
265 { |
265 ec_ioctl_sc_dc_t data; |
266 ec_ioctl_sc_dc_t data; |
266 |
267 |
267 data.config_index = sc->index; |
268 data.config_index = sc->index; |
268 data.cycle[0] = sync0_cycle_time; |
269 data.sync[0].cycle_time = sync0_cycle_time; |
269 data.cycle[1] = sync1_cycle_time; |
270 data.sync[0].shift_time = sync0_shift_time; |
270 |
271 data.sync[1].cycle_time = sync1_cycle_time; |
271 if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_CYCLE, &data) == -1) { |
272 data.sync[1].shift_time = sync1_shift_time; |
272 fprintf(stderr, "Failed to set assign_activate word.\n"); |
273 |
273 } |
274 if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_SYNC, &data) == -1) { |
274 } |
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275 |
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276 /*****************************************************************************/ |
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277 |
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278 void ecrt_slave_config_dc_sync_shift_times(ec_slave_config_t *sc, |
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279 uint32_t sync0_shift_time, uint32_t sync1_shift_time) |
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280 { |
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281 ec_ioctl_sc_dc_t data; |
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282 |
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283 data.config_index = sc->index; |
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284 data.shift[0] = sync0_shift_time; |
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285 data.shift[1] = sync1_shift_time; |
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286 |
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287 if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_SHIFT, &data) == -1) { |
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288 fprintf(stderr, "Failed to set assign_activate word.\n"); |
275 fprintf(stderr, "Failed to set assign_activate word.\n"); |
289 } |
276 } |
290 } |
277 } |
291 |
278 |
292 /*****************************************************************************/ |
279 /*****************************************************************************/ |