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ethercat
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Sdo configuration debugging.

This commit is contained in:
Florian Pose 2008-07-17 12:25:15 +00:00
parent fb517d9495
commit 56cb9c7882
1 changed files with 23 additions and 0 deletions
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23
master/slave_config.c
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@ -620,6 +620,11 @@ int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
ec_slave_t *slave = sc->slave;
ec_sdo_request_t *req;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, data = 0x%x, size = %u)\n", (u32) sc,
index, subindex, (u32) data, size);
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
return -1;
@ -653,6 +658,12 @@ int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint8_t value)
{
uint8_t data[1];
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo8(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n", (u32) sc,
index, subindex, (u32) value);
EC_WRITE_U8(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
}
@ -663,6 +674,12 @@ int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint16_t value)
{
uint8_t data[2];
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo16(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n", (u32) sc,
index, subindex, value);
EC_WRITE_U16(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
}
@ -673,6 +690,12 @@ int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint32_t value)
{
uint8_t data[4];
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo32(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n", (u32) sc,
index, subindex, value);
EC_WRITE_U32(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
}