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ethercat
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CRC-Counter nach ESC-Datasheet implementiert.

This commit is contained in:
Florian Pose 2006-03-27 12:04:55 +00:00
parent 6c19a3e48f
commit 43f05519d6
2 changed files with 23 additions and 6 deletions
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27
master/slave.c
View File

@ -871,14 +871,31 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
}
// No CRC faults.
if (!EC_READ_U16(command.data) && !EC_READ_U16(command.data + 2)) return 0;
if (!EC_READ_U32(command.data)) return 0;
EC_WARN("CRC faults on slave %i. A: %i, B: %i\n", slave->ring_position,
EC_READ_U16(command.data), EC_READ_U16(command.data + 2));
if (EC_READ_U8(command.data))
EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
EC_READ_U8(command.data),
EC_READ_U8(command.data) == 1 ? "" : "s",
slave->ring_position);
if (EC_READ_U8(command.data + 1))
EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
EC_READ_U8(command.data + 1),
EC_READ_U8(command.data + 1) == 1 ? "" : "s",
slave->ring_position);
if (EC_READ_U8(command.data + 2))
EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
EC_READ_U8(command.data + 2),
EC_READ_U8(command.data + 2) == 1 ? "" : "s",
slave->ring_position);
if (EC_READ_U8(command.data + 3))
EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
EC_READ_U8(command.data + 3),
EC_READ_U8(command.data + 3) == 1 ? "" : "s",
slave->ring_position);
// Reset CRC counters
EC_WRITE_U16(data, 0x0000);
EC_WRITE_U16(data + 2, 0x0000);
EC_WRITE_U32(data, 0x00000000);
ec_command_init_npwr(&command, slave->station_address, 0x0300, 4, data);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_WARN("Resetting CRC fault counters failed on slave %i!\n",

2
todo.txt
View File

@ -5,12 +5,12 @@ $Id$
- Anzahl Frames, die die Karte Puffern kann
- Mehrere Frames versenden
- Typeninformation aus Master entfernen / XML-Dateien aus User-Space lesen
- Kommandos mit dynamischem Speicher
- Konfiguration Inkrementalgeberklemme
- SSI-Klemme
- SysFS-Interface implementieren
- SDO Dictionary der Slaves auslesen und im SysFS darstellen
- Typeninformation aus Master entfernen / XML-Dateien aus User-Space lesen
- DLL-Link-States auslesen und Topologie berechnen
- Ethernet over EtherCAT (EoE)
- eepro100-Kartentreiber