equal
deleted
inserted
replaced
24 """ |
24 """ |
25 |
25 |
26 SLAVE_CONFIGURATION_TEMPLATE = """ |
26 SLAVE_CONFIGURATION_TEMPLATE = """ |
27 if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { |
27 if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { |
28 SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d."); |
28 SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d."); |
29 return -1; |
29 goto ecat_failed; |
30 } |
30 } |
31 |
31 |
32 if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { |
32 if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { |
33 SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d."); |
33 SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d."); |
34 goto ecat_failed; |
34 goto ecat_failed; |