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ethercat
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Esthetic surgery for slave.

This commit is contained in:
Florian Pose 2008-02-01 21:22:22 +00:00
parent 52e374dd95
commit 7c267ee50b
1 changed files with 20 additions and 21 deletions
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41
master/slave.c
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@ -332,7 +332,7 @@ void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state);
ec_state_string(new_state, cur_state);
EC_DBG("Slave %i: %s -> %s.\n",
EC_DBG("Slave %u: %s -> %s.\n",
slave->ring_position, old_state, cur_state);
}
slave->current_state = new_state;
@ -354,7 +354,7 @@ void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
if (slave->pdos_registered)
slave->master->pdo_slaves_offline++;
if (slave->master->debug_level)
EC_DBG("Slave %i: offline.\n", slave->ring_position);
EC_DBG("Slave %u: offline.\n", slave->ring_position);
}
else if (new_state == EC_SLAVE_ONLINE &&
slave->online_state == EC_SLAVE_OFFLINE) {
@ -364,7 +364,7 @@ void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
if (slave->master->debug_level) {
char cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, cur_state);
EC_DBG("Slave %i: online (%s).\n",
EC_DBG("Slave %u: online (%s).\n",
slave->ring_position, cur_state);
}
}
@ -608,9 +608,8 @@ int ec_slave_fetch_sii_pdos(
/*****************************************************************************/
/**
Searches the string list for an index and allocates a new string.
Searches the string list for an index.
\return 0 in case of success, else < 0
\todo documentation
*/
char *ec_slave_sii_string(
@ -623,7 +622,7 @@ char *ec_slave_sii_string(
if (index >= slave->sii_string_count) {
if (slave->master->debug_level)
EC_WARN("String %i not found in slave %i.\n",
EC_WARN("String %u not found in slave %u.\n",
index, slave->ring_position);
return NULL;
}
@ -664,7 +663,7 @@ int ec_slave_prepare_fmmu(
// reserve new FMMU...
if (slave->fmmu_count >= slave->base_fmmu_count) {
EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
EC_ERR("Slave %u FMMU limit reached!\n", slave->ring_position);
return -1;
}
@ -707,7 +706,7 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
buf = large_buffer;
buf += sprintf(buf, "Ring position: %i\n",
buf += sprintf(buf, "Ring position: %u\n",
slave->ring_position);
buf += sprintf(buf, "State: ");
buf += ec_state_string(slave->current_state, buf);
@ -744,7 +743,7 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
if (slave->sii_alias)
buf += sprintf(buf, "Configured station alias:"
" 0x%04X (%i)\n\n", slave->sii_alias, slave->sii_alias);
" 0x%04X (%u)\n\n", slave->sii_alias, slave->sii_alias);
buf += sprintf(buf, "Identity:\n");
buf += sprintf(buf, " Vendor ID: 0x%08X (%u)\n",
@ -820,7 +819,7 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
for (i = 0; i < slave->sii_sync_count; i++) {
sync = &slave->sii_syncs[i];
buf += sprintf(buf,
" SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n",
" SM%u: addr 0x%04X, size %u, control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
ec_sync_size(sync), sync->control_register,
sync->enable ? "enable" : "disable");
@ -841,7 +840,7 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
list_for_each_entry(pdo_entry, &pdo->entries, list) {
buf += sprintf(buf,
" 0x%04X:%X \"%s\", %i bit\n",
" 0x%04X:%X \"%s\", %u bit\n",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
@ -866,7 +865,7 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
buf += sprintf(buf, ", no default mapping.\n");
list_for_each_entry(pdo_entry, &pdo->entries, list) {
buf += sprintf(buf, " 0x%04X:%X \"%s\", %i bit\n",
buf += sprintf(buf, " 0x%04X:%X \"%s\", %u bit\n",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
@ -881,9 +880,9 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
list_for_each_entry(sdodata, &slave->sdo_confs, list) {
switch (sdodata->size) {
case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
case 1: sprintf(str, "%u", EC_READ_U8(sdodata->data)); break;
case 2: sprintf(str, "%u", EC_READ_U16(sdodata->data)); break;
case 4: sprintf(str, "%u", EC_READ_U32(sdodata->data)); break;
default: sprintf(str, "(invalid size)"); break;
}
buf += sprintf(buf, " 0x%04X:%-3i -> %s\n",
@ -1156,7 +1155,7 @@ ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
else if (attr == &attr_eeprom) {
if (slave->eeprom_data) {
if (slave->eeprom_size > PAGE_SIZE) {
EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
EC_ERR("EEPROM contents of slave %u exceed 1 page (%u/%u).\n",
slave->ring_position, slave->eeprom_size,
(int) PAGE_SIZE);
}
@ -1204,7 +1203,7 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
}
ec_state_string(slave->requested_state, state);
EC_INFO("Accepted new state %s for slave %i.\n",
EC_INFO("Accepted new state %s for slave %u.\n",
state, slave->ring_position);
return size;
}
@ -1262,7 +1261,7 @@ int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
ec_sdo_data_t *sdodata;
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
return -1;
}
@ -1300,7 +1299,7 @@ int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
{
if (vendor_id != slave->sii_vendor_id ||
product_code != slave->sii_product_code) {
EC_ERR("Invalid slave type at position %i:\n", slave->ring_position);
EC_ERR("Invalid slave type at position %u:\n", slave->ring_position);
EC_ERR(" Requested: 0x%08X 0x%08X\n", vendor_id, product_code);
EC_ERR(" Found: 0x%08X 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
@ -1428,7 +1427,7 @@ void ecrt_slave_pdo_mapping_clear(
ec_sync_t *sync;
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
return;
}
@ -1459,7 +1458,7 @@ int ecrt_slave_pdo_mapping_add(
return -1;
}
// does the slave provide the PDO?
// does the slave provide the PDO? FIXME
list_for_each_entry(pdo, &slave->sii_pdos, list) {
if (pdo->index == pdo_index) {
not_found = 0;