equal
deleted
inserted
replaced
943 ec_datagram_t *datagram = fsm->datagram; |
943 ec_datagram_t *datagram = fsm->datagram; |
944 ec_slave_t *slave = fsm->slave; |
944 ec_slave_t *slave = fsm->slave; |
945 ec_sdo_request_t *request = fsm->request; |
945 ec_sdo_request_t *request = fsm->request; |
946 uint8_t *data; |
946 uint8_t *data; |
947 |
947 |
948 if (fsm->slave->master->debug_level) |
948 if (fsm->slave->master->debug_level) { |
949 EC_DBG("Downloading Sdo 0x%04X:%i to slave %i.\n", |
949 EC_DBG("Downloading Sdo 0x%04X:%u to slave %u.\n", |
950 request->index, request->subindex, slave->ring_position); |
950 request->index, request->subindex, slave->ring_position); |
|
951 ec_print_data(request->data, request->data_size); |
|
952 } |
951 |
953 |
952 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
954 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
953 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
955 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
954 fsm->state = ec_fsm_coe_error; |
956 fsm->state = ec_fsm_coe_error; |
955 return; |
957 return; |
1164 ec_master_t *master = slave->master; |
1166 ec_master_t *master = slave->master; |
1165 ec_sdo_request_t *request = fsm->request; |
1167 ec_sdo_request_t *request = fsm->request; |
1166 uint8_t *data; |
1168 uint8_t *data; |
1167 |
1169 |
1168 if (master->debug_level) |
1170 if (master->debug_level) |
1169 EC_DBG("Uploading Sdo 0x%04X:%i from slave %i.\n", |
1171 EC_DBG("Uploading Sdo 0x%04X:%u from slave %u.\n", |
1170 request->index, request->subindex, slave->ring_position); |
1172 request->index, request->subindex, slave->ring_position); |
1171 |
1173 |
1172 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
1174 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
1173 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
1175 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
1174 fsm->state = ec_fsm_coe_error; |
1176 fsm->state = ec_fsm_coe_error; |
1467 fsm->state = ec_fsm_coe_up_seg_request; |
1469 fsm->state = ec_fsm_coe_up_seg_request; |
1468 return; |
1470 return; |
1469 } |
1471 } |
1470 } |
1472 } |
1471 |
1473 |
|
1474 if (master->debug_level) { |
|
1475 EC_DBG("Uploaded data:\n"); |
|
1476 ec_print_data(request->data, request->data_size); |
|
1477 } |
|
1478 |
1472 fsm->state = ec_fsm_coe_end; // success |
1479 fsm->state = ec_fsm_coe_end; // success |
1473 } |
1480 } |
1474 |
1481 |
1475 /*****************************************************************************/ |
1482 /*****************************************************************************/ |
1476 |
1483 |
1674 fsm->retries = EC_FSM_RETRIES; |
1681 fsm->retries = EC_FSM_RETRIES; |
1675 fsm->state = ec_fsm_coe_up_seg_request; |
1682 fsm->state = ec_fsm_coe_up_seg_request; |
1676 return; |
1683 return; |
1677 } |
1684 } |
1678 |
1685 |
|
1686 if (master->debug_level) { |
|
1687 EC_DBG("Uploaded data:\n"); |
|
1688 ec_print_data(request->data, request->data_size); |
|
1689 } |
|
1690 |
1679 fsm->state = ec_fsm_coe_end; // success |
1691 fsm->state = ec_fsm_coe_end; // success |
1680 } |
1692 } |
1681 |
1693 |
1682 /*****************************************************************************/ |
1694 /*****************************************************************************/ |
1683 |
1695 |