--- a/lib/master.c Fri Jan 22 10:11:58 2016 +0100
+++ b/lib/master.c Fri Jan 22 13:09:43 2016 +0100
@@ -60,6 +60,11 @@
ec_domain_t *d, *next_d;
ec_slave_config_t *c, *next_c;
+ if (master->process_data) {
+ munmap(master->process_data, master->process_data_size);
+ master->process_data = NULL;
+ }
+
d = master->first_domain;
while (d) {
next_d = d->next;
@@ -81,10 +86,6 @@
void ec_master_clear(ec_master_t *master)
{
- if (master->process_data) {
- munmap(master->process_data, master->process_data_size);
- }
-
ec_master_clear_config(master);
if (master->fd != -1) {
@@ -389,7 +390,7 @@
/****************************************************************************/
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
- uint16_t index, uint8_t subindex, uint8_t *data,
+ uint16_t index, uint8_t subindex, const uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_ioctl_slave_sdo_download_t download;
@@ -418,7 +419,7 @@
/****************************************************************************/
int ecrt_master_sdo_download_complete(ec_master_t *master,
- uint16_t slave_position, uint16_t index, uint8_t *data,
+ uint16_t slave_position, uint16_t index, const uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_ioctl_slave_sdo_download_t download;
@@ -606,15 +607,18 @@
/****************************************************************************/
-void ecrt_master_send(ec_master_t *master)
-{
- int ret;
-
- ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
+size_t ecrt_master_send(ec_master_t *master)
+{
+ int ret;
+ size_t sent_bytes = 0;
+
+ ret = ioctl(master->fd, EC_IOCTL_SEND, &sent_bytes);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to send: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
+
+ return sent_bytes;
}
/****************************************************************************/
@@ -714,11 +718,16 @@
ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
if (EC_IOCTL_IS_ERROR(ret)) {
- fprintf(stderr, "Failed to get reference clock time: %s\n",
- strerror(EC_IOCTL_ERRNO(ret)));
- }
-
- return ret;
+ ret = EC_IOCTL_ERRNO(ret);
+ if (ret != EIO && ret != ENXIO) {
+ // do not log if no refclk or no refclk time yet
+ fprintf(stderr, "Failed to get reference clock time: %s\n",
+ strerror(ret));
+ }
+ return -ret;
+ }
+
+ return 0;
}
/****************************************************************************/