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36 |
36 |
37 #include "globals.h" |
37 #include "globals.h" |
38 #include "master.h" |
38 #include "master.h" |
39 #include "mailbox.h" |
39 #include "mailbox.h" |
40 #include "fsm_coe.h" |
40 #include "fsm_coe.h" |
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41 #include "slave_config.h" |
41 |
42 |
42 /*****************************************************************************/ |
43 /*****************************************************************************/ |
43 |
44 |
44 /** Maximum time in ms to wait for responses when reading out the dictionary. |
45 /** Maximum time in ms to wait for responses when reading out the dictionary. |
45 */ |
46 */ |
267 " request:\n"); |
268 " request:\n"); |
268 ec_print_data(data, size); |
269 ec_print_data(data, size); |
269 return 1; |
270 return 1; |
270 } |
271 } |
271 |
272 |
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273 { |
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274 ec_slave_config_t *sc = fsm->slave->config; |
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275 if (sc) { |
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276 ec_coe_emerg_ring_push(&sc->emerg_ring, data + 2); |
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277 } |
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278 } |
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279 |
272 EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n" |
280 EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n" |
273 "Error code 0x%04X, Error register 0x%02X, data:\n", |
281 "Error code 0x%04X, Error register 0x%02X, data:\n", |
274 EC_READ_U16(data + 2), EC_READ_U8(data + 4)); |
282 EC_READ_U16(data + 2), EC_READ_U8(data + 4)); |
275 ec_print_data(data + 5, 5); |
283 ec_print_data(data + 5, 5); |
276 return 1; |
284 return 1; |