master/fsm_coe.c
changeset 834 0791aac03180
parent 831 ded9519c8d6e
child 854 f4f53be425ac
equal deleted inserted replaced
833:5dca670ae4dd 834:0791aac03180
   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