etherlabmaster: comparison master/fsm_pdo

equal deleted inserted replaced

-:74ee632c3b5e
+:2ec9651a6c89
 for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
 fsm->pdos = &fsm->slave->config->sync_configs[fsm->sync_index].pdos;
 if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
 if (!list_empty(&fsm->pdos->list)) {
-EC_ERR("Slave %u does not provide a configuration for sync "
+EC_WARN("Slave %u does not provide a configuration "
-"manager %u!\n", fsm->slave->ring_position,
+"for SM%u!\n", fsm->slave->ring_position,
 fsm->sync_index);
 fsm->state = ec_fsm_pdo_assign_state_error;
 return;
 }
 continue;
 // check if assignment has to be altered
 if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
 continue;
 if (fsm->slave->master->debug_level) {
-EC_DBG("Pdo assignment of SM%u differs in slave %u:\n",
+EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index);
-fsm->sync_index, fsm->slave->ring_position);
 EC_DBG("Currently assigned Pdos: ");
 ec_pdo_list_print(&fsm->sync->pdos);
 printk("\n");
 EC_DBG("Pdos to assign: ");
 ec_pdo_list_print(fsm->pdos);
 // Pdo assignment has to be changed. Does the slave support this?
 if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
 || (fsm->slave->sii.has_general
 && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
-EC_ERR("Slave %u does not support assigning Pdos!\n",
+EC_WARN("Slave %u does not support assigning Pdos!\n",
 fsm->slave->ring_position);
 fsm->state = ec_fsm_pdo_assign_state_error;
 return;
 }
 fsm->num_configured_syncs++;
-if (fsm->slave->master->debug_level) {
-EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",
-fsm->sync_index, fsm->slave->ring_position);
-}
 if (ec_sdo_request_alloc(&fsm->request, 2)) {
 fsm->state = ec_fsm_pdo_assign_state_error;
 return;
 }
 // set mapped Pdo count to zero
 EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
 fsm->request.data_size = 1;
 ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_write(&fsm->request);
 if (fsm->slave->master->debug_level)
-EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync_index);
+EC_DBG("Setting Pdo count to zero.\n");
 fsm->state = ec_fsm_pdo_assign_state_zero_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 return;
 }
 if (fsm->slave->master->debug_level && !fsm->num_configured_syncs)
-EC_DBG("Pdo assignments of slave %u are already configured"
+EC_DBG("Pdo assignments are already configured correctly.\n");
-" correctly.\n", fsm->slave->ring_position);
 fsm->state = ec_fsm_pdo_assign_state_end;
 }
 /*****************************************************************************/
 EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
 fsm->request.data_size = 2;
 ec_sdo_request_address(&fsm->request,
 0x1C10 + fsm->sync_index, fsm->pdo_count);
 ecrt_sdo_request_write(&fsm->request);
 if (fsm->slave->master->debug_level)
 EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
 fsm->pdo->index, fsm->pdo_count);
 fsm->state = ec_fsm_pdo_assign_state_add_pdo;
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_ERR("Failed to clear Pdo assignment of slave %u.\n",
+EC_WARN("Failed to clear Pdo assignment of SM%u.\n", fsm->sync_index);
-fsm->slave->ring_position);
 fsm->state = ec_fsm_pdo_assign_state_error;
 return;
 }
 // assign all Pdos belonging to the current sync manager
 // find first Pdo
 if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdos->list))) {
 if (fsm->slave->master->debug_level)
-EC_DBG("No Pdos to assign for SM%u of slave %u.\n",
+EC_DBG("No Pdos to assign.\n");
-fsm->sync_index, fsm->slave->ring_position);
 ec_fsm_pdo_assign_next_sync(fsm);
 return;
 }
 // assign first Pdo
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
+EC_WARN("Failed to assign Pdo 0x%04X to position %u in SM%u.\n",
-fsm->pdo->index, fsm->sync_index, fsm->slave->ring_position);
+fsm->pdo->index, fsm->pdo_count, fsm->sync_index);
 fsm->state = ec_fsm_pdo_assign_state_error;
 return;
 }
 // find next Pdo
 // no more Pdos to map. write Pdo count
 EC_WRITE_U8(fsm->request.data, fsm->pdo_count);
 fsm->request.data_size = 1;
 ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_write(&fsm->request);
 if (fsm->slave->master->debug_level)
 EC_DBG("Setting number of assigned Pdos to %u.\n",
 fsm->pdo_count);
 fsm->state = ec_fsm_pdo_assign_state_pdo_count;
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_ERR("Failed to set number of assigned Pdos for slave %u.\n",
+EC_WARN("Failed to set number of assigned Pdos for SM%u.\n",
-fsm->slave->ring_position);
+fsm->sync_index);
 fsm->state = ec_fsm_pdo_assign_state_error;
 return;
 }
 if (fsm->slave->master->debug_level)
-EC_DBG("Successfully configured Pdo assignment for SM%u of"
+EC_DBG("Pdo assignment successful for SM%u.\n", fsm->sync_index);
-" slave %u.\n", fsm->sync_index, fsm->slave->ring_position);
 // assignment for this sync manager finished
 ec_fsm_pdo_assign_next_sync(fsm);
 }

changeset 1173	2ec9651a6c89
parent 1082	ff06c58e269c