97 |
97 |
98 /****************************************************************************/ |
98 /****************************************************************************/ |
99 |
99 |
100 void Master::listPdos(int slavePosition) |
100 void Master::listPdos(int slavePosition) |
101 { |
101 { |
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102 if (slavePosition == -1) { |
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103 unsigned int numSlaves = slaveCount(), i; |
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104 |
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105 for (i = 0; i < numSlaves; i++) { |
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106 listSlavePdos(i, true); |
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107 } |
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108 } else { |
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109 listSlavePdos(slavePosition, false); |
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110 } |
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111 } |
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112 |
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113 /****************************************************************************/ |
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114 |
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115 void Master::listSlavePdos(uint16_t slavePosition, bool printSlave) |
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116 { |
102 ec_ioctl_slave_t slave; |
117 ec_ioctl_slave_t slave; |
103 ec_ioctl_sync_t sync; |
118 ec_ioctl_sync_t sync; |
104 ec_ioctl_pdo_t pdo; |
119 ec_ioctl_pdo_t pdo; |
105 ec_ioctl_pdo_entry_t entry; |
120 ec_ioctl_pdo_entry_t entry; |
106 unsigned int i, j, k; |
121 unsigned int i, j, k; |
107 |
122 |
108 getSlave(&slave, slavePosition); |
123 getSlave(&slave, slavePosition); |
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124 |
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125 if (printSlave) |
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126 cout << "=== Slave " << slavePosition << " ===" << endl; |
109 |
127 |
110 for (i = 0; i < slave.sync_count; i++) { |
128 for (i = 0; i < slave.sync_count; i++) { |
111 getSync(&sync, slavePosition, i); |
129 getSync(&sync, slavePosition, i); |
112 |
130 |
113 cout << "SM" << i << ":" |
131 cout << "SM" << i << ":" |