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ethercat
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Better debugging output for SDO dictionaries.

This commit is contained in:
Florian Pose 2006-10-20 12:33:48 +00:00
parent 9fd6548b84
commit cd884f45d0
3 changed files with 51 additions and 23 deletions
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44
master/fsm.c
View File

@ -614,7 +614,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
|| slave->error_flag) continue;
if (master->debug_level) {
EC_DBG("Fetching SDO dictionary of slave %i.\n",
EC_DBG("Fetching SDO dictionary from slave %i.\n",
slave->ring_position);
}
@ -1052,8 +1052,10 @@ void ec_fsm_master_sdodict(ec_fsm_t *fsm /**< finite state machine */)
// SDO dictionary fetching finished
if (master->debug_level) {
EC_DBG("Finished fetching SDO dictionary of slave %i.\n",
slave->ring_position);
unsigned int sdo_count, entry_count;
ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
sdo_count, entry_count, slave->ring_position);
}
// restart master state machine.
@ -2320,7 +2322,6 @@ void ec_fsm_coe_dict_check(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
@ -2375,17 +2376,11 @@ void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */)
sdo_count = (rec_size - 8) / 2;
if (master->debug_level) {
EC_DBG("Fetching %i SDOs.\n", sdo_count);
}
for (i = 0; i < sdo_count; i++) {
sdo_index = EC_READ_U16(data + 8 + i * 2);
if (!sdo_index) {
// sometimes index is 0... ???
if (master->debug_level) {
EC_DBG("Received SDO with index 0x0000.\n");
}
EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
slave->ring_position);
continue;
}
@ -2457,7 +2452,9 @@ void ec_fsm_coe_dict_desc_request(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
EC_ERR("Reception of CoE SDO description request failed.\n");
EC_ERR("Reception of CoE SDO description"
" request failed on slave %i.\n", slave->ring_position);
return;
}
@ -2482,7 +2479,9 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
EC_ERR("Reception of CoE mailbox check datagram failed.\n");
EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
slave->ring_position);
return;
}
@ -2524,7 +2523,8 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
EC_ERR("Reception of CoE SDO description response failed.\n");
EC_ERR("Reception of CoE SDO description"
"response failed on slave %i.\n", slave->ring_position);
return;
}
@ -2651,7 +2651,8 @@ void ec_fsm_coe_dict_entry_request(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
EC_ERR("Reception of CoE SDO entry request failed.\n");
EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n",
slave->ring_position);
return;
}
@ -2676,7 +2677,8 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
EC_ERR("Reception of CoE mailbox check datagram failed.\n");
EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
slave->ring_position);
return;
}
@ -2708,7 +2710,6 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_sdo_t *sdo = fsm->coe_sdo;
@ -2719,7 +2720,8 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
EC_ERR("Reception of CoE SDO description response failed.\n");
EC_ERR("Reception of CoE SDO description"
" response failed on slave %i.\n", slave->ring_position);
return;
}
@ -2842,10 +2844,6 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
return;
}
if (master->debug_level) {
EC_DBG("Finished fetching SDO descriptions.\n");
}
fsm->coe_state = ec_fsm_end;
}

27
master/slave.c
View File

@ -960,6 +960,33 @@ int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
return 0;
}
/*****************************************************************************/
/**
Counts the total number of SDOs and entries in the dictionary.
*/
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
unsigned int *sdo_count, /**< number of SDOs */
unsigned int *entry_count /**< total number of
entries */
)
{
unsigned int sdos = 0, entries = 0;
ec_sdo_t *sdo;
ec_sdo_entry_t *entry;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
sdos++;
list_for_each_entry(entry, &sdo->entries, list) {
entries++;
}
}
*sdo_count = sdos;
*entry_count = entries;
}
/******************************************************************************
* Realtime interface
*****************************************************************************/

3
master/slave.h
View File

@ -281,6 +281,9 @@ int ec_slave_has_subbus(const ec_slave_t *);
int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t);
void ec_slave_sdo_dict_info(const ec_slave_t *,
unsigned int *, unsigned int *);
/*****************************************************************************/
#endif