equal
deleted
inserted
replaced
52 } |
52 } |
53 |
53 |
54 /***************************************************************************** |
54 /***************************************************************************** |
55 * Application interface. |
55 * Application interface. |
56 ****************************************************************************/ |
56 ****************************************************************************/ |
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57 |
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58 void ecrt_sdo_request_index(ec_sdo_request_t *req, uint16_t index, |
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59 uint8_t subindex) |
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60 { |
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61 ec_ioctl_sdo_request_t data; |
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62 int ret; |
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63 |
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64 data.config_index = req->config->index; |
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65 data.request_index = req->index; |
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66 data.sdo_index = index; |
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67 data.sdo_subindex = subindex; |
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68 |
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69 ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_INDEX, &data); |
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70 if (EC_IOCTL_IS_ERROR(ret)) { |
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71 fprintf(stderr, "Failed to set SDO request index/subindex: %s\n", |
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72 strerror(EC_IOCTL_ERRNO(ret))); |
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73 } |
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74 } |
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75 |
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76 /*****************************************************************************/ |
57 |
77 |
58 void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout) |
78 void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout) |
59 { |
79 { |
60 ec_ioctl_sdo_request_t data; |
80 ec_ioctl_sdo_request_t data; |
61 int ret; |
81 int ret; |