equal
deleted
inserted
replaced
254 int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position, |
254 int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position, |
255 uint8_t sync_index, ec_sync_info_t *sync) |
255 uint8_t sync_index, ec_sync_info_t *sync) |
256 { |
256 { |
257 ec_ioctl_slave_sync_t data; |
257 ec_ioctl_slave_sync_t data; |
258 |
258 |
259 if (sync_index >= EC_MAX_SYNC_MANAGERS) |
259 if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
260 return -ENOENT; |
260 return -ENOENT; |
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261 } |
261 |
262 |
262 memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t)); |
263 memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t)); |
263 data.slave_position = slave_position; |
264 data.slave_position = slave_position; |
264 data.sync_index = sync_index; |
265 data.sync_index = sync_index; |
265 |
266 |
550 } |
551 } |
551 } |
552 } |
552 |
553 |
553 /*****************************************************************************/ |
554 /*****************************************************************************/ |
554 |
555 |
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556 int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx, |
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557 ec_master_link_state_t *state) |
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558 { |
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559 ec_ioctl_link_state_t io; |
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560 |
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561 io.dev_idx = dev_idx; |
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562 io.state = state; |
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563 if (ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io) == -1) { |
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564 fprintf(stderr, "Failed to get link state: %s\n", strerror(errno)); |
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565 return -errno; |
|
566 } |
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567 } |
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568 |
|
569 /*****************************************************************************/ |
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570 |
555 void ecrt_master_application_time(ec_master_t *master, uint64_t app_time) |
571 void ecrt_master_application_time(ec_master_t *master, uint64_t app_time) |
556 { |
572 { |
557 ec_ioctl_app_time_t data; |
573 ec_ioctl_app_time_t data; |
558 |
574 |
559 data.app_time = app_time; |
575 data.app_time = app_time; |