equal
deleted
inserted
replaced
709 if (master->slave_states & EC_SLAVE_STATE_INIT) { |
709 if (master->slave_states & EC_SLAVE_STATE_INIT) { |
710 printk("INIT"); |
710 printk("INIT"); |
711 first = 0; |
711 first = 0; |
712 } |
712 } |
713 if (master->slave_states & EC_SLAVE_STATE_PREOP) { |
713 if (master->slave_states & EC_SLAVE_STATE_PREOP) { |
714 if (!first) { |
714 if (!first) printk(", "); |
715 printk(", "); |
|
716 first = 0; |
|
717 } |
|
718 printk("PREOP"); |
715 printk("PREOP"); |
|
716 first = 0; |
719 } |
717 } |
720 if (master->slave_states & EC_SLAVE_STATE_SAVEOP) { |
718 if (master->slave_states & EC_SLAVE_STATE_SAVEOP) { |
721 if (!first) { |
719 if (!first) printk(", "); |
722 printk(", "); |
|
723 first = 0; |
|
724 } |
|
725 printk("SAVEOP"); |
720 printk("SAVEOP"); |
|
721 first = 0; |
726 } |
722 } |
727 if (master->slave_states & EC_SLAVE_STATE_OP) { |
723 if (master->slave_states & EC_SLAVE_STATE_OP) { |
728 if (!first) { |
724 if (!first) printk(", "); |
729 printk(", "); |
|
730 first = 0; |
|
731 } |
|
732 printk("OP"); |
725 printk("OP"); |
733 } |
726 } |
734 printk(")\n"); |
727 printk(")\n"); |
735 } |
728 } |
736 } |
729 } |
857 } |
850 } |
858 |
851 |
859 // Change state to PREOP |
852 // Change state to PREOP |
860 if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP))) |
853 if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP))) |
861 return -1; |
854 return -1; |
|
855 |
|
856 // Fetch SDO list |
|
857 if (slave->sii_mailbox_protocols & EC_MBOX_COE) { |
|
858 if (unlikely(ec_slave_fetch_sdo_list(slave))) { |
|
859 EC_ERR("Could not fetch SDO list!\n"); |
|
860 return -1; |
|
861 } |
|
862 } |
862 |
863 |
863 // Slaves that are not registered are only brought into PREOP |
864 // Slaves that are not registered are only brought into PREOP |
864 // state -> nice blinking and mailbox comm. possible |
865 // state -> nice blinking and mailbox comm. possible |
865 if (!slave->registered && !slave->type->bus_coupler) { |
866 if (!slave->registered && !slave->type->bus_coupler) { |
866 EC_WARN("Slave %i was not registered!\n", slave->ring_position); |
867 EC_WARN("Slave %i was not registered!\n", slave->ring_position); |