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Configure alternative PDO mapping only on slaves that have PDO sync 

managers.
This commit is contained in:
Florian Pose 2007-03-16 13:39:19 +00:00
parent 2a1920caaa
commit e17ebc9764
2 changed files with 15 additions and 11 deletions
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13
master/fsm_mapping.c
View File

@ -161,20 +161,23 @@ void ec_fsm_mapping_next_sync(
ec_fsm_mapping_t *fsm /**< mapping state machine */
)
{
do {
while (1) {
if (fsm->dir > EC_DIR_INPUT) {
// no more sync managers to configure mappings for
// no more directions to configure mappings for
fsm->state = ec_fsm_mapping_state_end;
return;
}
if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
fsm->state = ec_fsm_mapping_state_error;
return;
// no sync manager found for this direction
fsm->dir++;
continue;
}
fsm->dir++;
if (fsm->sync->alt_mapping)
break;
}
while (!fsm->sync->alt_mapping);
if (fsm->slave->master->debug_level) {
EC_DBG("Configuring PDO mapping for SM%u of slave %i.\n",

13
master/slave.c
View File

@ -1111,10 +1111,8 @@ ec_sync_t *ec_slave_get_pdo_sync(
sync_index = (unsigned int) dir;
if (slave->sii_mailbox_protocols) sync_index += 2;
if (sync_index >= slave->sii_sync_count) {
EC_ERR("No appropriate sync manager found.\n");
if (sync_index >= slave->sii_sync_count)
return NULL;
}
return &slave->sii_syncs[sync_index];
}
@ -1297,7 +1295,7 @@ int ecrt_slave_pdo_mapping_add(
unsigned int not_found = 1;
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;
}
@ -1310,7 +1308,7 @@ int ecrt_slave_pdo_mapping_add(
}
if (not_found) {
EC_ERR("Slave %i does not provide PDO %04X!\n",
EC_ERR("Slave %u does not provide PDO 0x%04X!\n",
slave->ring_position, pdo_index);
return -1;
}
@ -1323,8 +1321,11 @@ int ecrt_slave_pdo_mapping_add(
}
if (!(sync = ec_slave_get_pdo_sync(slave, dir)))
if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
EC_ERR("Failed to obtain sync manager for PDO mapping of slave %u!\n",
slave->ring_position);
return -1;
}
return ec_sync_add_pdo(sync, pdo);
}