214 |
214 |
215 int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position, |
215 int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position, |
216 ec_slave_info_t *slave_info) |
216 ec_slave_info_t *slave_info) |
217 { |
217 { |
218 ec_ioctl_slave_t data; |
218 ec_ioctl_slave_t data; |
219 int index; |
219 int index, i; |
220 |
220 |
221 data.position = slave_position; |
221 data.position = slave_position; |
222 |
222 |
223 if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) { |
223 if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) { |
224 fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno)); |
224 fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno)); |
230 slave_info->product_code = data.product_code; |
230 slave_info->product_code = data.product_code; |
231 slave_info->revision_number = data.revision_number; |
231 slave_info->revision_number = data.revision_number; |
232 slave_info->serial_number = data.serial_number; |
232 slave_info->serial_number = data.serial_number; |
233 slave_info->alias = data.alias; |
233 slave_info->alias = data.alias; |
234 slave_info->current_on_ebus = data.current_on_ebus; |
234 slave_info->current_on_ebus = data.current_on_ebus; |
235 strncpy((char*) slave_info->ports, (char*) data.ports, sizeof(slave_info->ports)); |
235 for ( i = 0; i < EC_MAX_PORTS; i++ ) { |
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236 slave_info->ports[i].desc = data.ports[i].desc; |
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237 slave_info->ports[i].link.link_up = data.ports[i].link.link_up; |
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238 slave_info->ports[i].link.loop_closed = data.ports[i].link.loop_closed; |
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239 slave_info->ports[i].link.signal_detected = data.ports[i].link.signal_detected; |
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240 slave_info->ports[i].receive_time = data.ports[i].receive_time; |
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241 slave_info->ports[i].next_slave = data.ports[i].next_slave; |
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242 slave_info->ports[i].delay_to_next_dc = data.ports[i].delay_to_next_dc; |
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243 } |
236 slave_info->al_state = data.al_state; |
244 slave_info->al_state = data.al_state; |
237 slave_info->error_flag = data.error_flag; |
245 slave_info->error_flag = data.error_flag; |
238 slave_info->sync_count = data.sync_count; |
246 slave_info->sync_count = data.sync_count; |
239 slave_info->sdo_count = data.sdo_count; |
247 slave_info->sdo_count = data.sdo_count; |
240 strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH); |
248 strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH); |