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1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
2 * |
3 * $Id$ |
3 * $Id$ |
4 * |
4 * |
5 * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
5 * Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH |
6 * |
6 * |
7 * This file is part of the IgH EtherCAT master userspace library. |
7 * This file is part of the IgH EtherCAT master userspace library. |
8 * |
8 * |
9 * The IgH EtherCAT master userspace library is free software; you can |
9 * The IgH EtherCAT master userspace library is free software; you can |
10 * redistribute it and/or modify it under the terms of the GNU Lesser General |
10 * redistribute it and/or modify it under the terms of the GNU Lesser General |
779 * |
779 * |
780 * Starts writing an IDN and blocks until the request was processed, or an |
780 * Starts writing an IDN and blocks until the request was processed, or an |
781 * error occurred. |
781 * error occurred. |
782 * |
782 * |
783 * \retval 0 Success. |
783 * \retval 0 Success. |
784 * \retval -1 An error occured. |
784 * \retval <0 Error code. |
785 */ |
785 */ |
786 int ecrt_master_write_idn( |
786 int ecrt_master_write_idn( |
787 ec_master_t *master, /**< EtherCAT master. */ |
787 ec_master_t *master, /**< EtherCAT master. */ |
788 uint16_t slave_position, /**< Slave position. */ |
788 uint16_t slave_position, /**< Slave position. */ |
789 uint8_t drive_no, /**< Drive number. */ |
789 uint8_t drive_no, /**< Drive number. */ |
798 * |
798 * |
799 * Starts reading an IDN and blocks until the request was processed, or an |
799 * Starts reading an IDN and blocks until the request was processed, or an |
800 * error occurred. |
800 * error occurred. |
801 * |
801 * |
802 * \retval 0 Success. |
802 * \retval 0 Success. |
803 * \retval -1 An error occured. |
803 * \retval <0 Error code. |
804 */ |
804 */ |
805 int ecrt_master_read_idn( |
805 int ecrt_master_read_idn( |
806 ec_master_t *master, /**< EtherCAT master. */ |
806 ec_master_t *master, /**< EtherCAT master. */ |
807 uint16_t slave_position, /**< Slave position. */ |
807 uint16_t slave_position, /**< Slave position. */ |
808 uint8_t drive_no, /**< Drive number. */ |
808 uint8_t drive_no, /**< Drive number. */ |
846 void ecrt_master_deactivate( |
846 void ecrt_master_deactivate( |
847 ec_master_t *master /**< EtherCAT master. */ |
847 ec_master_t *master /**< EtherCAT master. */ |
848 ); |
848 ); |
849 |
849 |
850 /** Set interval between calls to ecrt_master_send(). |
850 /** Set interval between calls to ecrt_master_send(). |
|
851 * |
|
852 * \retval 0 on success. |
|
853 * \retval <0 Error code. |
|
854 * |
851 */ |
855 */ |
852 int ecrt_master_set_send_interval( |
856 int ecrt_master_set_send_interval( |
853 ec_master_t *master, /**< EtherCAT master. */ |
857 ec_master_t *master, /**< EtherCAT master. */ |
854 size_t send_interval /**< Send interval in us */ |
858 size_t send_interval /**< Send interval in us */ |
855 ); |
859 ); |