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ethercat
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Added some debugging and fixed a bug, when Pdo was not found.

This commit is contained in:
Florian Pose 2008-02-28 14:46:24 +00:00
parent ea501996b2
commit 7338f88b5f
1 changed files with 29 additions and 3 deletions
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32
master/slave_config.c
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@ -447,6 +447,10 @@ void ec_slave_config_load_default_pdo_config(
const ec_sync_t *sync;
const ec_pdo_t *default_pdo;
if (sc->master->debug_level)
EC_DBG("Loading default configuration for Pdo 0x%04X in"
" config %u:%u.\n", pdo->index, sc->alias, sc->position);
pdo->default_config = 1;
if (!sc->slave) {
@ -497,10 +501,17 @@ int ecrt_slave_config_pdo(ec_slave_config_t *sc, ec_direction_t dir,
ec_pdo_t *pdo;
if (pm->default_mapping) {
if (sc->master->debug_level)
EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n",
dir, sc->alias, sc->position);
pm->default_mapping = 0;
ec_pdo_mapping_clear_pdos(pm);
}
if (sc->master->debug_level)
EC_DBG("Adding Pdo 0x%04X to mapping for dir %u, config %u:%u.\n",
index, dir, sc->alias, sc->position);
if (!(pdo = ec_pdo_mapping_add_pdo(pm, index, dir)))
return -1;
@ -517,11 +528,25 @@ int ecrt_slave_config_pdo_entry(ec_slave_config_t *sc, uint16_t pdo_index,
ec_direction_t dir;
ec_pdo_t *pdo;
if (sc->master->debug_level)
EC_DBG("Adding Pdo entry 0x%04X:%u (%u bit) to configuration of Pdo"
" 0x%04X, config %u:%u.\n", entry_index, entry_subindex,
entry_bit_length, pdo_index, sc->alias, sc->position);
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
if ((pdo = ec_pdo_mapping_find_pdo(&sc->mapping[dir], pdo_index)))
break;
if (!pdo) {
EC_ERR("Pdo 0x%04X was not found in the mapping of config %u:%u.\n",
pdo_index, sc->alias, sc->position);
return -1;
}
if (pdo->default_config) {
if (sc->master->debug_level)
EC_DBG("Clearing default configuration of Pdo 0x%04X,"
" config %u:%u.\n", pdo->index, sc->alias, sc->position);
pdo->default_config = 0;
ec_pdo_clear_entries(pdo);
}
@ -546,12 +571,15 @@ int ecrt_slave_config_mapping(ec_slave_config_t *sc, unsigned int n_entries,
pm = &sc->mapping[pi->dir];
if (pm->default_mapping) {
if (sc->master->debug_level)
EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n",
pi->dir, sc->alias, sc->position);
pm->default_mapping = 0;
ec_pdo_mapping_clear_pdos(pm);
}
if (sc->master->debug_level)
EC_INFO("Adding Pdo 0x%04X to mapping.\n", pi->index);
EC_DBG("Adding Pdo 0x%04X to mapping.\n", pi->index);
if (!(pdo = ec_pdo_mapping_add_pdo(pm, pi->dir, pi->index)))
return -1;
@ -567,8 +595,6 @@ int ecrt_slave_config_mapping(ec_slave_config_t *sc, unsigned int n_entries,
return -1;
}
} else { // use default Pdo configuration
if (sc->master->debug_level)
EC_DBG(" Using default Pdo configuration.\n");
ec_slave_config_load_default_pdo_config(sc, pdo);
}
}