406 int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)

   407 {

   408     ec_ioctl_sc_emerg_t io;

   409     int ret;

   410 

   411     io.config_index = sc->index;

   412     io.size = elements;

   413 

   414     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_SIZE, &io);

   415     if (EC_IOCTL_IS_ERROR(ret)) {

   416         fprintf(stderr, "Failed to set emergency ring size: %s\n",

   417                 strerror(EC_IOCTL_ERRNO(ret)));

   418         return -EC_IOCTL_ERRNO(ret);

   419     }

   420 

   421     return 0;

   422 }

   423 

   424 /*****************************************************************************/

   425 

   426 int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target)

   427 {

   428     ec_ioctl_sc_emerg_t io;

   429     int ret;

   430 

   431     io.config_index = sc->index;

   432     io.target = target;

   433 

   434     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_POP, &io);

   435     if (EC_IOCTL_IS_ERROR(ret)) {

   436         fprintf(stderr, "Failed to get emergency message: %s\n",

   437                 strerror(EC_IOCTL_ERRNO(ret)));

   438         return -EC_IOCTL_ERRNO(ret);

   439     }

   440 

   441     return 0;

   442 }

   443 

   444 /*****************************************************************************/

   445 

   446 int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)

   447 {

   448     ec_ioctl_sc_emerg_t io;

   449     int ret;

   450 

   451     io.config_index = sc->index;

   452 

   453     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_CLEAR, &io);

   454     if (EC_IOCTL_IS_ERROR(ret)) {

   455         fprintf(stderr, "Failed to clear emergency ring: %s\n",

   456                 strerror(EC_IOCTL_ERRNO(ret)));

   457         return -EC_IOCTL_ERRNO(ret);

   458     }

   459 

   460     return 0;

   461 }

   462 

   463 /*****************************************************************************/

   464 

   465 int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)

   466 {

   467     ec_ioctl_sc_emerg_t io;

   468     int ret;

   469 

   470     io.config_index = sc->index;

   471 

   472     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_OVERRUNS, &io);

   473     if (EC_IOCTL_IS_ERROR(ret)) {

   474         fprintf(stderr, "Failed to get emergency overruns: %s\n",

   475                 strerror(EC_IOCTL_ERRNO(ret)));

   476         return -EC_IOCTL_ERRNO(ret);

   477     }

   478 

   479     return io.overruns;

   480 }

   481 

   482 /*****************************************************************************/

   483