equal
deleted
inserted
replaced
125 ) |
125 ) |
126 { |
126 { |
127 ec_field_reg_t *field_reg; |
127 ec_field_reg_t *field_reg; |
128 ec_slave_t *slave; |
128 ec_slave_t *slave; |
129 ec_fmmu_t *fmmu; |
129 ec_fmmu_t *fmmu; |
130 unsigned int i, j, found, data_offset; |
130 unsigned int i, j, found; |
|
131 uint32_t data_offset; |
131 |
132 |
132 if (domain->data) { |
133 if (domain->data) { |
133 EC_ERR("Domain already allocated!\n"); |
134 EC_ERR("Domain already allocated!\n"); |
134 return -1; |
135 return -1; |
135 } |
136 } |
347 Setzt Prozessdaten-Kommandos in die Warteschlange des Masters. |
348 Setzt Prozessdaten-Kommandos in die Warteschlange des Masters. |
348 */ |
349 */ |
349 |
350 |
350 void EtherCAT_rt_domain_queue(ec_domain_t *domain /**< Domäne */) |
351 void EtherCAT_rt_domain_queue(ec_domain_t *domain /**< Domäne */) |
351 { |
352 { |
352 unsigned int offset, i; |
353 unsigned int i; |
353 size_t size; |
354 size_t size; |
|
355 off_t offset; |
354 |
356 |
355 offset = 0; |
357 offset = 0; |
356 for (i = 0; i < domain->command_count; i++) { |
358 for (i = 0; i < domain->command_count; i++) { |
357 size = domain->data_size - offset; |
359 size = domain->data_size - offset; |
358 if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE; |
360 if (size > EC_MAX_DATA_SIZE) size = EC_MAX_DATA_SIZE; |
370 Verarbeitet empfangene Prozessdaten. |
372 Verarbeitet empfangene Prozessdaten. |
371 */ |
373 */ |
372 |
374 |
373 void EtherCAT_rt_domain_process(ec_domain_t *domain /**< Domäne */) |
375 void EtherCAT_rt_domain_process(ec_domain_t *domain /**< Domäne */) |
374 { |
376 { |
375 unsigned int offset, working_counter_sum, i; |
377 unsigned int working_counter_sum, i; |
376 ec_command_t *command; |
378 ec_command_t *command; |
377 size_t size; |
379 size_t size; |
|
380 off_t offset; |
378 |
381 |
379 working_counter_sum = 0; |
382 working_counter_sum = 0; |
380 |
383 |
381 offset = 0; |
384 offset = 0; |
382 for (i = 0; i < domain->command_count; i++) { |
385 for (i = 0; i < domain->command_count; i++) { |