648 

   649 /*****************************************************************************/

   650 

   651 #if 0

   652 

   653 /**

   654    Outputs the values of the CRC faoult counters and resets them.

   655    \return 0 in case of success, else < 0

   656 */

   657 

   658 int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)

   659 {

   660     ec_datagram_t *datagram;

   661 

   662     datagram = &slave->master->simple_datagram;

   663 

   664     if (ec_datagram_nprd(datagram, slave->station_address, 0x0300, 4))

   665         return -1;

   666     if (unlikely(ec_master_simple_io(slave->master, datagram))) {

   667         EC_WARN("Reading CRC fault counters failed on slave %i!\n",

   668                 slave->ring_position);

   669         return -1;

   670     }

   671 

   672     if (!EC_READ_U32(datagram->data)) return 0; // no CRC faults

   673 

   674     if (EC_READ_U8(datagram->data))

   675         EC_WARN("%3i RX-error%s on slave %i, channel A.\n",

   676                 EC_READ_U8(datagram->data),

   677                 EC_READ_U8(datagram->data) == 1 ? "" : "s",

   678                 slave->ring_position);

   679     if (EC_READ_U8(datagram->data + 1))

   680         EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",

   681                 EC_READ_U8(datagram->data + 1),

   682                 EC_READ_U8(datagram->data + 1) == 1 ? "" : "s",

   683                 slave->ring_position);

   684     if (EC_READ_U8(datagram->data + 2))

   685         EC_WARN("%3i RX-error%s on slave %i, channel B.\n",

   686                 EC_READ_U8(datagram->data + 2),

   687                 EC_READ_U8(datagram->data + 2) == 1 ? "" : "s",

   688                 slave->ring_position);

   689     if (EC_READ_U8(datagram->data + 3))

   690         EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",

   691                 EC_READ_U8(datagram->data + 3),

   692                 EC_READ_U8(datagram->data + 3) == 1 ? "" : "s",

   693                 slave->ring_position);

   694 

   695     // reset CRC counters

   696     if (ec_datagram_npwr(datagram, slave->station_address, 0x0300, 4))

   697         return -1;

   698     EC_WRITE_U32(datagram->data, 0x00000000);

   699     if (unlikely(ec_master_simple_io(slave->master, datagram))) {

   700         EC_WARN("Resetting CRC fault counters failed on slave %i!\n",

   701                 slave->ring_position);

   702         return -1;

   703     }

   704 

   705     return 0;

   706 }

   707 

   708 #endif