242 return ret; |
242 return ret; |
243 } |
243 } |
244 |
244 |
245 /*****************************************************************************/ |
245 /*****************************************************************************/ |
246 |
246 |
247 void ecrt_slave_config_dc_assign_activate(ec_slave_config_t *sc, |
247 void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate, |
248 uint16_t assign_activate) |
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249 { |
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250 ec_ioctl_sc_dc_t data; |
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251 |
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252 data.config_index = sc->index; |
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253 data.assign_activate = assign_activate; |
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254 |
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255 if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_ASSIGN, &data) == -1) { |
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256 fprintf(stderr, "Failed to set assign_activate word.\n"); |
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257 } |
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258 } |
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259 |
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260 /*****************************************************************************/ |
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261 |
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262 void ecrt_slave_config_dc_sync_signals(ec_slave_config_t *sc, |
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263 uint32_t sync0_cycle_time, uint32_t sync0_shift_time, |
248 uint32_t sync0_cycle_time, uint32_t sync0_shift_time, |
264 uint32_t sync1_cycle_time, uint32_t sync1_shift_time) |
249 uint32_t sync1_cycle_time, uint32_t sync1_shift_time) |
265 { |
250 { |
266 ec_ioctl_sc_dc_t data; |
251 ec_ioctl_sc_dc_t data; |
267 |
252 |
268 data.config_index = sc->index; |
253 data.config_index = sc->index; |
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254 data.assign_activate = assign_activate; |
269 data.sync[0].cycle_time = sync0_cycle_time; |
255 data.sync[0].cycle_time = sync0_cycle_time; |
270 data.sync[0].shift_time = sync0_shift_time; |
256 data.sync[0].shift_time = sync0_shift_time; |
271 data.sync[1].cycle_time = sync1_cycle_time; |
257 data.sync[1].cycle_time = sync1_cycle_time; |
272 data.sync[1].shift_time = sync1_shift_time; |
258 data.sync[1].shift_time = sync1_shift_time; |
273 |
259 |
274 if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_SYNC, &data) == -1) { |
260 if (ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data) == -1) { |
275 fprintf(stderr, "Failed to set assign_activate word.\n"); |
261 fprintf(stderr, "Failed to set assign_activate word.\n"); |
276 } |
262 } |
277 } |
263 } |
278 |
264 |
279 /*****************************************************************************/ |
265 /*****************************************************************************/ |