equal
deleted
inserted
replaced
247 { |
247 { |
248 ec_datagram_t *datagram = fsm->datagram; |
248 ec_datagram_t *datagram = fsm->datagram; |
249 ec_slave_t *slave = fsm->slave; |
249 ec_slave_t *slave = fsm->slave; |
250 uint8_t *data; |
250 uint8_t *data; |
251 |
251 |
252 if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) { |
252 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
253 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
253 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
254 fsm->state = ec_fsm_coe_error; |
254 fsm->state = ec_fsm_coe_error; |
255 return; |
255 return; |
256 } |
256 } |
257 |
257 |
959 |
959 |
960 if (fsm->slave->master->debug_level) |
960 if (fsm->slave->master->debug_level) |
961 EC_DBG("Downloading Sdo 0x%04X:%i to slave %i.\n", |
961 EC_DBG("Downloading Sdo 0x%04X:%i to slave %i.\n", |
962 sdodata->index, sdodata->subindex, slave->ring_position); |
962 sdodata->index, sdodata->subindex, slave->ring_position); |
963 |
963 |
964 if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) { |
964 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
965 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
965 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
966 fsm->state = ec_fsm_coe_error; |
966 fsm->state = ec_fsm_coe_error; |
967 return; |
967 return; |
968 } |
968 } |
969 |
969 |
970 if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) { |
970 if (slave->sii.rx_mailbox_size < 6 + 10 + sdodata->size) { |
971 EC_ERR("Sdo fragmenting not supported yet!\n"); |
971 EC_ERR("Sdo fragmenting not supported yet!\n"); |
972 fsm->state = ec_fsm_coe_error; |
972 fsm->state = ec_fsm_coe_error; |
973 return; |
973 return; |
974 } |
974 } |
975 |
975 |
1179 |
1179 |
1180 if (master->debug_level) |
1180 if (master->debug_level) |
1181 EC_DBG("Uploading Sdo 0x%04X:%i from slave %i.\n", |
1181 EC_DBG("Uploading Sdo 0x%04X:%i from slave %i.\n", |
1182 request->index, request->subindex, slave->ring_position); |
1182 request->index, request->subindex, slave->ring_position); |
1183 |
1183 |
1184 if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) { |
1184 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
1185 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
1185 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
1186 fsm->state = ec_fsm_coe_error; |
1186 fsm->state = ec_fsm_coe_error; |
1187 return; |
1187 return; |
1188 } |
1188 } |
1189 |
1189 |