--- a/lib/slave_config.c Fri May 13 15:33:16 2011 +0200
+++ b/lib/slave_config.c Fri May 13 15:34:20 2011 +0200
@@ -110,6 +110,23 @@
/*****************************************************************************/
+void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,
+ uint8_t allow_overlapping_pdos)
+{
+ ec_ioctl_config_t data;
+
+ memset(&data, 0x00, sizeof(ec_ioctl_config_t));
+ data.config_index = sc->index;
+ data.allow_overlapping_pdos = allow_overlapping_pdos;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_OVERLAPPING_IO, &data) == -1) {
+ fprintf(stderr, "Failed to config overlapping PDOs: %s\n",
+ strerror(errno));
+ }
+}
+
+/*****************************************************************************/
+
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
uint8_t sync_index, uint16_t pdo_index)
{
@@ -415,7 +432,7 @@
if (size) {
req->data = malloc(size);
if (!req->data) {
- fprintf(stderr, "Failed to allocate %u bytes of SDO data"
+ fprintf(stderr, "Failed to allocate %zu bytes of SDO data"
" memory.\n", size);
free(req);
return 0;
@@ -484,7 +501,7 @@
if (size) {
voe->data = malloc(size);
if (!voe->data) {
- fprintf(stderr, "Failed to allocate %u bytes of VoE data"
+ fprintf(stderr, "Failed to allocate %zu bytes of VoE data"
" memory.\n", size);
free(voe);
return 0;