motion/ecmc_plugin_socketcan
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SDO: Change read timeout to read sample time

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This commit is contained in:
Anders Sandstrom
2021-03-12 09:05:41 +01:00
parent 7fdd51b0cd
commit 111f6f460a
1 changed files with 6 additions and 7 deletions
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13
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.cpp
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@@ -292,7 +292,7 @@ void ecmcCANOpenAddSDOPrintHelp() {
printf(" <ODIndex> : OD index of SDO.\n");
printf(" <ODSubIndex> : OD sub index of SDO.\n");
printf(" <ODSize> : OS Size.\n");
printf(" <readTimeoutMs> : Readtimeout in ms.\n");
printf(" <readSampleTimeMs>: Sample time for read in ms (write is always on demand).\n");
printf("\n");
}
@@ -304,7 +304,7 @@ int ecmcCANOpenAddSDO(const char* name,
int ODIndex,
int ODSubIndex,
int ODSize,
int readTimeoutMs) {
int readSampleTimeMs) {
if(!name) {
printf("Error: name.\n");
ecmcCANOpenAddSDOPrintHelp();
@@ -352,13 +352,12 @@ int ecmcCANOpenAddSDO(const char* name,
return asynError;
}
if(readTimeoutMs < 0) {
printf("Error: invalid readTimeoutMs.\n");
if(readSampleTimeMs < 0) {
printf("Error: invalid readSampleTimeMs.\n");
ecmcCANOpenAddSDOPrintHelp();
return asynError;
}
ecmc_can_direction tempDir = DIR_READ;
if(dir == 1) {
tempDir = DIR_WRITE;
@@ -372,7 +371,7 @@ int ecmcCANOpenAddSDO(const char* name,
ODIndex,
ODSubIndex,
ODSize,
readTimeoutMs,
readSampleTimeMs,
name);
@@ -401,7 +400,7 @@ static const iocshArg initArg6_2 =
static const iocshArg initArg7_2 =
{ "OD size", iocshArgInt };
static const iocshArg initArg8_2 =
{ "Read timeout ms", iocshArgInt };
{ "Read sample time ms", iocshArgInt };
static const iocshArg *const initArgs_2[] = { &initArg0_2,
&initArg1_2,