--- a/master/canopen.c Sun Feb 26 12:26:23 2006 +0000
+++ b/master/canopen.c Tue Feb 28 09:09:08 2006 +0000
@@ -56,14 +56,11 @@
value >>= 8;
}
- ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
- data);
-
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox send - Slave %i did not respond!\n",
- slave->ring_position);
+ ec_frame_init_npwr(&frame, master, slave->station_address,
+ 0x1800, 0xF6, data);
+
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -74,10 +71,8 @@
{
ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox check - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -97,10 +92,8 @@
ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox receive - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -149,14 +142,11 @@
EC_WRITE_U16(data + 9, sdo_index);
EC_WRITE_U8 (data + 11, sdo_subindex);
- ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
- data);
-
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox send - Slave %i did not respond!\n",
- slave->ring_position);
+ ec_frame_init_npwr(&frame, master, slave->station_address,
+ 0x1800, 0xF6, data);
+
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -167,10 +157,8 @@
{
ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox check - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -190,10 +178,8 @@
ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox receive - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return -1;
}