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/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

    22

 *  ---

    23

 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT SoE state machines.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "fsm_soe.h"

    41

    42

/*****************************************************************************/

    43

    44

/** Mailbox type for SoE.

    45

 */

    46

#define EC_MBOX_TYPE_SOE 0x05

    47

    48

#define EC_SOE_OPCODE_READ_REQUEST   0x01

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#define EC_SOE_OPCODE_READ_RESPONSE  0x02

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#define EC_SOE_OPCODE_WRITE_REQUEST  0x03

    51

#define EC_SOE_OPCODE_WRITE_RESPONSE 0x04

    52

    53

#define EC_SOE_READ_REQUEST_SIZE   0x04

    54

#define EC_SOE_READ_RESPONSE_SIZE  0x04

    55

#define EC_SOE_WRITE_REQUEST_SIZE  0x04

    56

#define EC_SOE_WRITE_RESPONSE_SIZE 0x04

    57

    58

#define EC_SOE_RESPONSE_TIMEOUT 1000

    59

    60

/*****************************************************************************/

    61

    62

void ec_fsm_soe_read_start(ec_fsm_soe_t *);

    63

void ec_fsm_soe_read_request(ec_fsm_soe_t *);

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void ec_fsm_soe_read_check(ec_fsm_soe_t *);

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void ec_fsm_soe_read_response(ec_fsm_soe_t *);

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    67

void ec_fsm_soe_write_start(ec_fsm_soe_t *);

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void ec_fsm_soe_write_request(ec_fsm_soe_t *);

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void ec_fsm_soe_write_check(ec_fsm_soe_t *);

    70

void ec_fsm_soe_write_response(ec_fsm_soe_t *);

    71

    72

void ec_fsm_soe_end(ec_fsm_soe_t *);

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void ec_fsm_soe_error(ec_fsm_soe_t *);

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    75

/*****************************************************************************/

    76

    77

/** Constructor.

    78

 */

    79

void ec_fsm_soe_init(

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		ec_fsm_soe_t *fsm, /**< finite state machine */

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		ec_datagram_t *datagram /**< datagram */

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		)

    83

{

    84

    fsm->state = NULL;

    85

    fsm->datagram = datagram;

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}

    87

    88

/*****************************************************************************/

    89

    90

/** Destructor.

    91

 */

    92

void ec_fsm_soe_clear(

    93

		ec_fsm_soe_t *fsm /**< finite state machine */

    94

		)

    95

{

    96

}

    97

    98

/*****************************************************************************/

    99

   100

/** Starts to transfer an IDN to/from a slave.

   101

 */

   102

void ec_fsm_soe_transfer(

   103

        ec_fsm_soe_t *fsm, /**< State machine. */

   104

        ec_slave_t *slave, /**< EtherCAT slave. */

   105

        ec_soe_request_t *request /**< SoE request. */

   106

        )

   107

{

   108

    fsm->slave = slave;

   109

    fsm->request = request;

   110

    if (request->dir == EC_DIR_OUTPUT) {

   111

        fsm->state = ec_fsm_soe_write_start;

   112

	} else {

   114

        fsm->state = ec_fsm_soe_read_start;

   115

	}

   116

}

   117

   118

/*****************************************************************************/

   119

   120

/**

   121

   Executes the current state of the state machine.

   122

   \return false, if state machine has terminated

   123

*/

   124

   125

int ec_fsm_soe_exec(ec_fsm_soe_t *fsm /**< finite state machine */)

   126

{

   127

    fsm->state(fsm);

   128

   129

    return fsm->state != ec_fsm_soe_end && fsm->state != ec_fsm_soe_error;

   130

}

   131

   132

/*****************************************************************************/

   133

   134

/**

   135

   Returns, if the state machine terminated with success.

   136

   \return non-zero if successful.

   137

*/

   138

   139

int ec_fsm_soe_success(ec_fsm_soe_t *fsm /**< Finite state machine */)

   140

{

   141

    return fsm->state == ec_fsm_soe_end;

   142

}

   143

   144

/******************************************************************************

   145

 * SoE read state machine

   146

 *****************************************************************************/

   147

   148

/** SoE state: READ START.

   149

 */

   150

void ec_fsm_soe_read_start(ec_fsm_soe_t *fsm /**< finite state machine */)

   151

{

   152

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

   154

    ec_master_t *master = slave->master;

   155

    ec_soe_request_t *request = fsm->request;

   156

    uint8_t *data;

   157

   158

    if (master->debug_level)

   159

        EC_DBG("Reading IDN 0x%04X from slave %u.\n",

   160

               request->idn, slave->ring_position);

   161

   162

    if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {

   163

        EC_ERR("Slave %u does not support SoE!\n", slave->ring_position);

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        fsm->state = ec_fsm_soe_error;

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        return;

   166

    }

   167

   168

    data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,

   169

			EC_SOE_READ_REQUEST_SIZE);

   170

    if (IS_ERR(data)) {

   171

        fsm->state = ec_fsm_soe_error;

   172

        return;

   173

    }

   174

   175

    EC_WRITE_U8(data, EC_SOE_OPCODE_READ_REQUEST);

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    EC_WRITE_U8(data + 1, 1 << 6); // request value

   177

    EC_WRITE_U16(data + 2, request->idn);

   178

   179

    if (master->debug_level) {

   180

        EC_DBG("SCC read request:\n");

   181

        ec_print_data(data, EC_SOE_READ_REQUEST_SIZE);

   182

    }

   183

   184

    fsm->request->jiffies_sent = jiffies;

   185

    fsm->retries = EC_FSM_RETRIES;

   186

    fsm->state = ec_fsm_soe_read_request;

   187

}

   188

   189

/*****************************************************************************/

   190

   191

/** SoE state: READ REQUEST.

   192

 */

   193

void ec_fsm_soe_read_request(ec_fsm_soe_t *fsm /**< finite state machine */)

   194

{

   195

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

   197

    unsigned long diff_ms;

   198

   199

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

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        return; // FIXME: check for response first?

   201

   202

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_soe_error;

   204

        EC_ERR("Failed to receive SoE read request for slave %u: ",

   205

               slave->ring_position);

   206

        ec_datagram_print_state(datagram);

   207

        return;

   208

    }

   209

   210

    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;

   211

   212

    if (datagram->working_counter != 1) {

   213

        if (!datagram->working_counter) {

   214

            if (diff_ms < EC_SOE_RESPONSE_TIMEOUT) {

   215

                // no response; send request datagram again

   216

                return;

   217

            }

   218

        }

   219

        fsm->state = ec_fsm_soe_error;

   220

        EC_ERR("Reception of SoE read request for IDN 0x%04x failed"

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                " after %u ms on slave %u: ",

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                fsm->request->idn, (u32) diff_ms,

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                fsm->slave->ring_position);

   224

        ec_datagram_print_wc_error(datagram);

   225

        return;

   226

    }

   227

   228

    fsm->jiffies_start = datagram->jiffies_sent;

   229

    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   230

    fsm->retries = EC_FSM_RETRIES;

   231

    fsm->state = ec_fsm_soe_read_check;

   232

}

   233

   234

/*****************************************************************************/

   235

   236

/** CoE state: READ CHECK.

   237

 */

   238

void ec_fsm_soe_read_check(ec_fsm_soe_t *fsm /**< finite state machine */)

   239

{

   240

    ec_datagram_t *datagram = fsm->datagram;

   241

    ec_slave_t *slave = fsm->slave;

   242

   243

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   244

        return;

   245

   246

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_soe_error;

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        EC_ERR("Failed to receive SoE mailbox check datagram from slave %u: ",

   249

               slave->ring_position);

   250

        ec_datagram_print_state(datagram);

   251

        return;

   252

    }

   253

   254

    if (datagram->working_counter != 1) {

   255

        fsm->state = ec_fsm_soe_error;

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        EC_ERR("Reception of SoE mailbox check datagram failed on slave %u: ",

   257

				slave->ring_position);

   258

        ec_datagram_print_wc_error(datagram);

   259

        return;

   260

    }

   261

   262

    if (!ec_slave_mbox_check(datagram)) {

   263

        unsigned long diff_ms =

   264

            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;

   265

        if (diff_ms >= EC_SOE_RESPONSE_TIMEOUT) {

   266

            fsm->state = ec_fsm_soe_error;

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            EC_ERR("Timeout after %u ms while waiting for IDN 0x%04x"

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                    " read response on slave %u.\n", (u32) diff_ms,

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                    fsm->request->idn, slave->ring_position);

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            return;

   271

        }

   272

   273

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   274

        fsm->retries = EC_FSM_RETRIES;

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        return;

   276

    }

   277

   278

    // Fetch response

   279

    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.

   280

    fsm->retries = EC_FSM_RETRIES;

   281

    fsm->state = ec_fsm_soe_read_response;

   282

}

   283

   284

/*****************************************************************************/

   285

   286

/** SoE state: READ RESPONSE.

   287

 */

   288

void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)

   289

{

   290

    ec_datagram_t *datagram = fsm->datagram;

   291

    ec_slave_t *slave = fsm->slave;

   292

    ec_master_t *master = slave->master;

   295

    size_t rec_size, data_size;

   296

    ec_soe_request_t *req = fsm->request;

   297

   298

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   299

        return; // FIXME: request again?

   300

   301

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   302

        fsm->state = ec_fsm_soe_error;

   303

        EC_ERR("Failed to receive SoE read response datagram for"

   304

               " slave %u: ", slave->ring_position);

   305

        ec_datagram_print_state(datagram);

   306

        return;

   307

    }

   308

   309

    if (datagram->working_counter != 1) {

   310

        fsm->state = ec_fsm_soe_error;

   311

        EC_ERR("Reception of SoE read response failed on slave %u: ",

   312

                slave->ring_position);

   313

        ec_datagram_print_wc_error(datagram);

   314

        return;

   315

    }

   316

   317

    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);

   318

    if (IS_ERR(data)) {

   319

        fsm->state = ec_fsm_soe_error;

   320

        return;

   321

    }

   322

   323

    if (master->debug_level) {

   324

        EC_DBG("SCC read response:\n");

   325

        ec_print_data(data, rec_size);

   326

    }

   327

   328

    if (mbox_prot != EC_MBOX_TYPE_SOE) {

   329

        fsm->state = ec_fsm_soe_error;

   330

        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);

   331

        return;

   332

    }

   333

   334

    if (rec_size < EC_SOE_READ_RESPONSE_SIZE) {

   335

        fsm->state = ec_fsm_soe_error;

   336

        EC_ERR("Received currupted SoE read response (%zu bytes)!\n",

   337

				rec_size);

   338

        ec_print_data(data, rec_size);

   339

        return;

   340

    }

   341

   347

    if (opcode != EC_SOE_OPCODE_READ_RESPONSE) {

   348

        EC_ERR("Received no read response (opcode %x).\n", opcode);

   349

        ec_print_data(data, rec_size);

   350

        fsm->state = ec_fsm_soe_error;

   351

        return;

   352

    }

   353

   354

	if (error_flag) {

   355

		req->error_code = EC_READ_U16(data + rec_size - 2);

   356

		EC_ERR("Received error response: 0x%04x.\n",

   357

				req->error_code);

   358

        fsm->state = ec_fsm_soe_error;

   359

        return;

   360

	} else {

   361

		req->error_code = 0x0000;

   362

	}

   363

   364

	value_included = (EC_READ_U8(data + 1) >> 6) & 1;

   365

	if (!value_included) {

   366

		EC_ERR("No value included!\n");

   367

		fsm->state = ec_fsm_soe_error;

   368

		return;

   369

	}

   370

   371

	data_size = rec_size - EC_SOE_READ_RESPONSE_SIZE;

   374

		fsm->state = ec_fsm_soe_error;

   375

		return;

   376

	}

   377

   395

}

   396

   397

/******************************************************************************

   398

 * SoE write state machine

   399

 *****************************************************************************/

   400

   401

/** SoE state: WRITE START.

   402

 */

   403

void ec_fsm_soe_write_start(ec_fsm_soe_t *fsm /**< finite state machine */)

   404

{

   405

    ec_datagram_t *datagram = fsm->datagram;

   406

    ec_slave_t *slave = fsm->slave;

   407

    ec_master_t *master = slave->master;

   408

    ec_soe_request_t *request = fsm->request;

   409

    uint8_t *data;

   410

   411

    if (master->debug_level)

   412

        EC_DBG("Writing IDN 0x%04X to slave %u.\n",

   413

               request->idn, slave->ring_position);

   414

   415

    if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {

   416

        EC_ERR("Slave %u does not support SoE!\n", slave->ring_position);

   417

        fsm->state = ec_fsm_soe_error;

   418

        return;

   419

    }

   420

   421

    data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,

   422

			EC_SOE_WRITE_REQUEST_SIZE + request->data_size);

   423

    if (IS_ERR(data)) {

   424

        fsm->state = ec_fsm_soe_error;

   425

        return;

   426

    }

   427

   428

    EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST);

   429

    EC_WRITE_U8(data + 1, 1 << 6); // only value included

   430

    EC_WRITE_U16(data + 2, request->idn);

   431

	memcpy(data + 4, request->data, request->data_size);

   432

   433

    if (master->debug_level) {

   434

        EC_DBG("SCC write request:\n");

   435

        ec_print_data(data, EC_SOE_WRITE_REQUEST_SIZE + request->data_size);

   436

    }

   437

   438

    fsm->request->jiffies_sent = jiffies;

   439

    fsm->retries = EC_FSM_RETRIES;

   440

    fsm->state = ec_fsm_soe_write_request;

   441

}

   442

   443

/*****************************************************************************/

   444

   445

/** SoE state: WRITE REQUEST.

   446

 */

   447

void ec_fsm_soe_write_request(ec_fsm_soe_t *fsm /**< finite state machine */)

   448

{

   449

    ec_datagram_t *datagram = fsm->datagram;

   450

    ec_slave_t *slave = fsm->slave;

   451

    unsigned long diff_ms;

   452

   453

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   454

        return; // FIXME: check for response first?

   455

   456

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   457

        fsm->state = ec_fsm_soe_error;

   458

        EC_ERR("Failed to receive SoE write request for slave %u: ",

   459

               slave->ring_position);

   460

        ec_datagram_print_state(datagram);

   461

        return;

   462

    }

   463

   464

    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;

   465

   466

    if (datagram->working_counter != 1) {

   467

        if (!datagram->working_counter) {

   468

            if (diff_ms < EC_SOE_RESPONSE_TIMEOUT) {

   469

                // no response; send request datagram again

   470

                return;

   471

            }

   472

        }

   473

        fsm->state = ec_fsm_soe_error;

   474

        EC_ERR("Reception of SoE write request for IDN 0x%04x failed"

   475

                " after %u ms on slave %u: ",

   476

                fsm->request->idn, (u32) diff_ms,

   477

                fsm->slave->ring_position);

   478

        ec_datagram_print_wc_error(datagram);

   479

        return;

   480

    }

   481

   482

    fsm->jiffies_start = datagram->jiffies_sent;

   483

   484

    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   485

    fsm->retries = EC_FSM_RETRIES;

   486

    fsm->state = ec_fsm_soe_write_check;

   487

}

   488

   489

/*****************************************************************************/

   490

   491

/** CoE state: WRITE CHECK.

   492

 */

   493

void ec_fsm_soe_write_check(ec_fsm_soe_t *fsm /**< finite state machine */)

   494

{

   495

    ec_datagram_t *datagram = fsm->datagram;

   496

    ec_slave_t *slave = fsm->slave;

   497

   498

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   499

        return;

   500

   501

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   502

        fsm->state = ec_fsm_soe_error;

   503

        EC_ERR("Failed to receive SoE mailbox check datagram from slave %u: ",

   504

               slave->ring_position);

   505

        ec_datagram_print_state(datagram);

   506

        return;

   507

    }

   508

   509

    if (datagram->working_counter != 1) {

   510

        fsm->state = ec_fsm_soe_error;

   511

        EC_ERR("Reception of SoE mailbox check datagram failed on slave %u: ",

   512

				slave->ring_position);

   513

        ec_datagram_print_wc_error(datagram);

   514

        return;

   515

    }

   516

   517

    if (!ec_slave_mbox_check(datagram)) {