equal
deleted
inserted
replaced
145 data->config_index = index; |
145 data->config_index = index; |
146 data->sdo_pos = sdo_pos; |
146 data->sdo_pos = sdo_pos; |
147 |
147 |
148 if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) { |
148 if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) { |
149 stringstream err; |
149 stringstream err; |
150 err << "Failed to get slave config Sdo: " << strerror(errno); |
150 err << "Failed to get slave config SDO: " << strerror(errno); |
151 throw MasterDeviceException(err); |
151 throw MasterDeviceException(err); |
152 } |
152 } |
153 } |
153 } |
154 |
154 |
155 /****************************************************************************/ |
155 /****************************************************************************/ |
291 sdo->slave_position = slaveIndex; |
291 sdo->slave_position = slaveIndex; |
292 sdo->sdo_position = sdoPosition; |
292 sdo->sdo_position = sdoPosition; |
293 |
293 |
294 if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) { |
294 if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) { |
295 stringstream err; |
295 stringstream err; |
296 err << "Failed to get Sdo: " << strerror(errno); |
296 err << "Failed to get SDO: " << strerror(errno); |
297 throw MasterDeviceException(err); |
297 throw MasterDeviceException(err); |
298 } |
298 } |
299 } |
299 } |
300 |
300 |
301 /****************************************************************************/ |
301 /****************************************************************************/ |
311 entry->sdo_spec = sdoSpec; |
311 entry->sdo_spec = sdoSpec; |
312 entry->sdo_entry_subindex = entrySubindex; |
312 entry->sdo_entry_subindex = entrySubindex; |
313 |
313 |
314 if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) { |
314 if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) { |
315 stringstream err; |
315 stringstream err; |
316 err << "Failed to get Sdo entry: " << strerror(errno); |
316 err << "Failed to get SDO entry: " << strerror(errno); |
317 throw MasterDeviceException(err); |
317 throw MasterDeviceException(err); |
318 } |
318 } |
319 } |
319 } |
320 |
320 |
321 /****************************************************************************/ |
321 /****************************************************************************/ |
362 if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) { |
362 if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) { |
363 stringstream err; |
363 stringstream err; |
364 if (errno == EIO && data->abort_code) { |
364 if (errno == EIO && data->abort_code) { |
365 throw MasterDeviceSdoAbortException(data->abort_code); |
365 throw MasterDeviceSdoAbortException(data->abort_code); |
366 } else { |
366 } else { |
367 err << "Failed to download Sdo: " << strerror(errno); |
367 err << "Failed to download SDO: " << strerror(errno); |
368 throw MasterDeviceException(err); |
368 throw MasterDeviceException(err); |
369 } |
369 } |
370 } |
370 } |
371 } |
371 } |
372 |
372 |
377 if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) { |
377 if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) { |
378 stringstream err; |
378 stringstream err; |
379 if (errno == EIO && data->abort_code) { |
379 if (errno == EIO && data->abort_code) { |
380 throw MasterDeviceSdoAbortException(data->abort_code); |
380 throw MasterDeviceSdoAbortException(data->abort_code); |
381 } else { |
381 } else { |
382 err << "Failed to upload Sdo: " << strerror(errno); |
382 err << "Failed to upload SDO: " << strerror(errno); |
383 throw MasterDeviceException(err); |
383 throw MasterDeviceException(err); |
384 } |
384 } |
385 } |
385 } |
386 } |
386 } |
387 |
387 |