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ethercat
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Fixed state acknowledgement.

This commit is contained in:
Florian Pose 2006-04-05 13:57:01 +00:00
parent 00e6f46e4c
commit d3ecd483fa
1 changed files with 7 additions and 16 deletions
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23
master/slave.c
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@ -717,8 +717,6 @@ int ec_slave_locate_string(ec_slave_t *slave, unsigned int index, char **ptr)
/**
Bestätigt einen Fehler beim Zustandswechsel.
\todo Funktioniert noch nicht...
*/
void ec_slave_state_ack(ec_slave_t *slave,
@ -735,8 +733,8 @@ void ec_slave_state_ack(ec_slave_t *slave,
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return;
EC_WRITE_U16(command->data, state | EC_ACK);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("State %02X acknowledge failed on slave %i!\n",
state, slave->ring_position);
EC_WARN("Acknowledge sending failed on slave %i!\n",
slave->ring_position);
return;
}
@ -750,29 +748,22 @@ void ec_slave_state_ack(ec_slave_t *slave,
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("State %02X acknowledge checking failed on slave %i!\n",
state, slave->ring_position);
EC_WARN("Acknowledge checking failed on slave %i!\n",
slave->ring_position);
return;
}
end = get_cycles();
if (unlikely(EC_READ_U8(command->data) != state)) {
EC_WARN("Could not acknowledge state %02X on slave %i (code"
" %02X)!\n", state, slave->ring_position,
EC_READ_U8(command->data));
return;
}
if (likely(EC_READ_U8(command->data) == state)) {
EC_INFO("Acknowleged state %02X on slave %i.\n", state,
EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state,
slave->ring_position);
return;
}
if (unlikely((end - start) >= timeout)) {
EC_WARN("Could not check state acknowledgement %02X of slave %i -"
" Timeout while checking!\n", state, slave->ring_position);
EC_WARN("Failed to check state acknowledgement 0x%02X on slave %i"
" - Timeout!\n", state,slave->ring_position);
return;
}
}