--- a/tools/Master.cpp Wed Jul 02 09:22:55 2008 +0000
+++ b/tools/Master.cpp Wed Jul 02 11:26:51 2008 +0000
@@ -128,7 +128,7 @@
const vector<string> &commandArgs
)
{
- ec_ioctl_sii_t data;
+ ec_ioctl_slave_sii_t data;
ec_ioctl_slave_t slave;
unsigned int i;
uint16_t alias;
@@ -230,7 +230,7 @@
open(ReadWrite);
- if (ioctl(fd, EC_IOCTL_SET_DEBUG, debugLevel) < 0) {
+ if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
stringstream err;
err << "Failed to set debug level: " << strerror(errno);
throw MasterException(err.str());
@@ -353,7 +353,7 @@
)
{
stringstream strIndex, strSubIndex, strValue, err;
- ec_ioctl_sdo_download_t data;
+ ec_ioctl_slave_sdo_download_t data;
unsigned int i, number;
const CoEDataType *dataType = NULL;
@@ -393,7 +393,7 @@
throw MasterException(err.str());
}
} else { // no data type specified: fetch from dictionary
- ec_ioctl_sdo_entry_t entry;
+ ec_ioctl_slave_sdo_entry_t entry;
unsigned int entryByteSize;
open(ReadWrite);
@@ -497,7 +497,7 @@
open(ReadWrite);
- if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &data) < 0) {
stringstream err;
err << "Failed to download Sdo: ";
if (errno == EIO && data.abort_code) {
@@ -523,7 +523,7 @@
{
stringstream strIndex, strSubIndex;
int sval;
- ec_ioctl_sdo_upload_t data;
+ ec_ioctl_slave_sdo_upload_t data;
unsigned int i, uval;
const CoEDataType *dataType = NULL;
@@ -568,7 +568,7 @@
throw MasterException(err.str());
}
} else { // no data type specified: fetch from dictionary
- ec_ioctl_sdo_entry_t entry;
+ ec_ioctl_slave_sdo_entry_t entry;
unsigned int entryByteSize;
open(Read);
@@ -601,7 +601,7 @@
open(Read);
- if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &data) < 0) {
stringstream err;
err << "Failed to upload Sdo: ";
if (errno == EIO && data.abort_code) {
@@ -688,7 +688,7 @@
void Master::siiRead(int slavePosition)
{
- ec_ioctl_sii_t data;
+ ec_ioctl_slave_sii_t data;
ec_ioctl_slave_t slave;
unsigned int i;
@@ -710,7 +710,7 @@
data.nwords = slave.sii_nwords;
data.words = new uint16_t[data.nwords];
- if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
stringstream err;
delete [] data.words;
err << "Failed to read SII: " << strerror(errno);
@@ -734,7 +734,7 @@
)
{
stringstream err;
- ec_ioctl_sii_t data;
+ ec_ioctl_slave_sii_t data;
ifstream file;
unsigned int byte_size;
const uint16_t *categoryHeader;
@@ -814,7 +814,7 @@
// send data to master
open(ReadWrite);
data.offset = 0;
- if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
stringstream err;
err << "Failed to write SII: " << strerror(errno);
throw MasterException(err.str());
@@ -925,7 +925,7 @@
uint16_t alias
)
{
- ec_ioctl_sii_t data;
+ ec_ioctl_slave_sii_t data;
ec_ioctl_slave_t slave;
stringstream err;
uint8_t crc;
@@ -946,7 +946,7 @@
data.words = new uint16_t[data.nwords];
// read first 8 SII words
- if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
delete [] data.words;
err << "Failed to read SII: " << strerror(errno);
throw MasterException(err.str());
@@ -962,7 +962,7 @@
*(uint8_t *) (data.words + 7) = crc;
// write first 8 words with new alias and checksum
- if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
delete [] data.words;
err << "Failed to write SII: " << strerror(errno);
throw MasterException(err.str());
@@ -1151,7 +1151,7 @@
void Master::outputDomainData(unsigned int domainIndex)
{
ec_ioctl_domain_t domain;
- ec_ioctl_data_t data;
+ ec_ioctl_domain_data_t data;
unsigned char *processData;
unsigned int i;
@@ -1182,7 +1182,7 @@
{
ec_ioctl_domain_t domain;
unsigned char *processData;
- ec_ioctl_data_t data;
+ ec_ioctl_domain_data_t data;
unsigned int i, j;
ec_ioctl_domain_fmmu_t fmmu;
unsigned int dataOffset;
@@ -1253,9 +1253,9 @@
)
{
ec_ioctl_slave_t slave;
- ec_ioctl_sync_t sync;
- ec_ioctl_pdo_t pdo;
- ec_ioctl_pdo_entry_t entry;
+ ec_ioctl_slave_sync_t sync;
+ ec_ioctl_slave_sync_pdo_t pdo;
+ ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
getSlave(&slave, slavePosition);
@@ -1313,8 +1313,8 @@
)
{
ec_ioctl_slave_t slave;
- ec_ioctl_sdo_t sdo;
- ec_ioctl_sdo_entry_t entry;
+ ec_ioctl_slave_sdo_t sdo;
+ ec_ioctl_slave_sdo_entry_t entry;
unsigned int i, j, k;
const CoEDataType *d;
@@ -1553,10 +1553,10 @@
void Master::generateSlaveXml(uint16_t slavePosition)
{
ec_ioctl_slave_t slave;
- ec_ioctl_sync_t sync;
- ec_ioctl_pdo_t pdo;
+ ec_ioctl_slave_sync_t sync;
+ ec_ioctl_slave_sync_pdo_t pdo;
string pdoType;
- ec_ioctl_pdo_entry_t entry;
+ ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
getSlave(&slave, slavePosition);
@@ -1781,14 +1781,14 @@
/****************************************************************************/
-void Master::getData(ec_ioctl_data_t *data, unsigned int domainIndex,
+void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
unsigned int dataSize, unsigned char *mem)
{
data->domain_index = domainIndex;
data->data_size = dataSize;
data->target = mem;
- if (ioctl(fd, EC_IOCTL_DATA, data) < 0) {
+ if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
stringstream err;
err << "Failed to get domain data: " << strerror(errno);
throw MasterException(err.str());
@@ -1839,7 +1839,7 @@
/****************************************************************************/
void Master::getSync(
- ec_ioctl_sync_t *sync,
+ ec_ioctl_slave_sync_t *sync,
uint16_t slaveIndex,
uint8_t syncIndex
)
@@ -1847,7 +1847,7 @@
sync->slave_position = slaveIndex;
sync->sync_index = syncIndex;
- if (ioctl(fd, EC_IOCTL_SYNC, sync)) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
stringstream err;
err << "Failed to get sync manager: ";
if (errno == EINVAL)
@@ -1863,7 +1863,7 @@
/****************************************************************************/
void Master::getPdo(
- ec_ioctl_pdo_t *pdo,
+ ec_ioctl_slave_sync_pdo_t *pdo,
uint16_t slaveIndex,
uint8_t syncIndex,
uint8_t pdoPos
@@ -1873,7 +1873,7 @@
pdo->sync_index = syncIndex;
pdo->pdo_pos = pdoPos;
- if (ioctl(fd, EC_IOCTL_PDO, pdo)) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
stringstream err;
err << "Failed to get Pdo: ";
if (errno == EINVAL)
@@ -1891,7 +1891,7 @@
/****************************************************************************/
void Master::getPdoEntry(
- ec_ioctl_pdo_entry_t *entry,
+ ec_ioctl_slave_sync_pdo_entry_t *entry,
uint16_t slaveIndex,
uint8_t syncIndex,
uint8_t pdoPos,
@@ -1903,7 +1903,7 @@
entry->pdo_pos = pdoPos;
entry->entry_pos = entryPos;
- if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
stringstream err;
err << "Failed to get Pdo entry: ";
if (errno == EINVAL)
@@ -1923,7 +1923,7 @@
/****************************************************************************/
void Master::getSdo(
- ec_ioctl_sdo_t *sdo,
+ ec_ioctl_slave_sdo_t *sdo,
uint16_t slaveIndex,
uint16_t sdoPosition
)
@@ -1931,7 +1931,7 @@
sdo->slave_position = slaveIndex;
sdo->sdo_position = sdoPosition;
- if (ioctl(fd, EC_IOCTL_SDO, sdo)) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
stringstream err;
err << "Failed to get Sdo: ";
if (errno == EINVAL)
@@ -1947,7 +1947,7 @@
/****************************************************************************/
void Master::getSdoEntry(
- ec_ioctl_sdo_entry_t *entry,
+ ec_ioctl_slave_sdo_entry_t *entry,
uint16_t slaveIndex,
int sdoSpec,
uint8_t entrySubindex
@@ -1957,7 +1957,7 @@
entry->sdo_spec = sdoSpec;
entry->sdo_entry_subindex = entrySubindex;
- if (ioctl(fd, EC_IOCTL_SDO_ENTRY, entry)) {
+ if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
stringstream err;
err << "Failed to get Sdo entry: ";
err << strerror(errno);