57 int ret; |
57 int ret; |
58 |
58 |
59 for (reg = regs; reg->index; reg++) { |
59 for (reg = regs; reg->index; reg++) { |
60 if (!(sc = ecrt_master_slave_config(domain->master, reg->alias, |
60 if (!(sc = ecrt_master_slave_config(domain->master, reg->alias, |
61 reg->position, reg->vendor_id, reg->product_code))) |
61 reg->position, reg->vendor_id, reg->product_code))) |
62 return -1; |
62 return -1; // FIXME |
63 |
63 |
64 if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, |
64 if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, |
65 reg->subindex, domain, reg->bit_position)) < 0) |
65 reg->subindex, domain, reg->bit_position)) < 0) |
66 return -1; |
66 return -1; // FIXME |
67 |
67 |
68 *reg->offset = ret; |
68 *reg->offset = ret; |
69 } |
69 } |
70 |
70 |
71 return 0; |
71 return 0; |
96 |
96 |
97 void ecrt_domain_process(ec_domain_t *domain) |
97 void ecrt_domain_process(ec_domain_t *domain) |
98 { |
98 { |
99 if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS, |
99 if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS, |
100 domain->index) == -1) { |
100 domain->index) == -1) { |
101 fprintf(stderr, "Failed to process domain offset: %s\n", |
101 fprintf(stderr, "Failed to process domain: %s\n", strerror(errno)); |
102 strerror(errno)); |
|
103 } |
102 } |
104 } |
103 } |
105 |
104 |
106 /*****************************************************************************/ |
105 /*****************************************************************************/ |
107 |
106 |
108 void ecrt_domain_queue(ec_domain_t *domain) |
107 void ecrt_domain_queue(ec_domain_t *domain) |
109 { |
108 { |
110 if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE, |
109 if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE, |
111 domain->index) == -1) { |
110 domain->index) == -1) { |
112 fprintf(stderr, "Failed to queue domain offset: %s\n", |
111 fprintf(stderr, "Failed to queue domain: %s\n", strerror(errno)); |
113 strerror(errno)); |
|
114 } |
112 } |
115 } |
113 } |
116 |
114 |
117 /*****************************************************************************/ |
115 /*****************************************************************************/ |
118 |
116 |