equal
deleted
inserted
replaced
304 } |
304 } |
305 |
305 |
306 /*****************************************************************************/ |
306 /*****************************************************************************/ |
307 |
307 |
308 void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate, |
308 void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate, |
309 uint32_t sync0_cycle_time, uint32_t sync0_shift_time, |
309 uint32_t sync0_cycle_time, int32_t sync0_shift_time, |
310 uint32_t sync1_cycle_time, uint32_t sync1_shift_time) |
310 uint32_t sync1_cycle_time, int32_t sync1_shift_time) |
311 { |
311 { |
312 ec_ioctl_config_t data; |
312 ec_ioctl_config_t data; |
313 int ret; |
313 int ret; |
314 |
314 |
315 data.config_index = sc->index; |
315 data.config_index = sc->index; |
319 data.dc_sync[1].cycle_time = sync1_cycle_time; |
319 data.dc_sync[1].cycle_time = sync1_cycle_time; |
320 data.dc_sync[1].shift_time = sync1_shift_time; |
320 data.dc_sync[1].shift_time = sync1_shift_time; |
321 |
321 |
322 ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data); |
322 ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data); |
323 if (EC_IOCTL_IS_ERROR(ret)) { |
323 if (EC_IOCTL_IS_ERROR(ret)) { |
324 fprintf(stderr, "Failed to set assign_activate word: %s\n", |
324 fprintf(stderr, "Failed to set DC parameters: %s\n", |
325 strerror(EC_IOCTL_ERRNO(ret))); |
325 strerror(EC_IOCTL_ERRNO(ret))); |
326 } |
326 } |
327 } |
327 } |
328 |
328 |
329 /*****************************************************************************/ |
329 /*****************************************************************************/ |