# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1210694826 0
# Node ID 6630f4dbcfd2237ce16ebb5942caa2fbe556563c
# Parent  17c3b3aafbb912530c2d99a3fd89438f58e640f5
Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.

diff -r 17c3b3aafbb9 -r 6630f4dbcfd2 master/domain.c
--- a/master/domain.c	Fri Apr 25 15:01:15 2008 +0000
+++ b/master/domain.c	Tue May 13 16:07:06 2008 +0000
@@ -196,10 +196,18 @@
         ec_fmmu_config_t *fmmu /**< FMMU configuration. */
         )
 {
+    unsigned int wc_increment;
     fmmu->domain = domain;
 
     domain->data_size += fmmu->data_size;
-    domain->expected_working_counter += working_counter_increment[fmmu->dir];
+    wc_increment = working_counter_increment[fmmu->dir];
+    domain->expected_working_counter += wc_increment;
+
+    if (domain->master->debug_level)
+        EC_DBG("Domain %u: Added %u bytes (now %u) with dir %u -> WC %u"
+                " (now %u).\n", domain->index, fmmu->data_size,
+                domain->data_size, fmmu->dir, wc_increment,
+                domain->expected_working_counter);
 }
 
 /*****************************************************************************/
@@ -439,13 +447,14 @@
         jiffies - domain->notify_jiffies > HZ) {
         domain->notify_jiffies = jiffies;
         if (domain->working_counter_changes == 1) {
-            EC_INFO("Domain %u working counter change: %u\n", domain->index,
-                    domain->working_counter);
+            EC_INFO("Domain %u: Working counter changed to %u/%u.\n",
+                    domain->index, domain->working_counter,
+                    domain->expected_working_counter);
         }
         else {
-            EC_INFO("Domain %u: %u working counter changes. Currently %u\n",
+            EC_INFO("Domain %u: %u working counter changes. Currently %u/%u.\n",
                     domain->index, domain->working_counter_changes,
-                    domain->working_counter);
+                    domain->working_counter, domain->expected_working_counter);
         }
         domain->working_counter_changes = 0;
     }
diff -r 17c3b3aafbb9 -r 6630f4dbcfd2 master/slave.c
--- a/master/slave.c	Fri Apr 25 15:01:15 2008 +0000
+++ b/master/slave.c	Tue May 13 16:07:06 2008 +0000
@@ -1164,14 +1164,14 @@
 
 /*****************************************************************************/
 
-/**
- * Get the sync manager for either Rx- or Tx-Pdos.
+/** Get the sync manager for either Rx- or Tx-Pdos.
+ *
+ * \todo This seems not to be correct in every case...
  * \return pointer to sync manager, or NULL.
  */
-
 ec_sync_t *ec_slave_get_pdo_sync(
-        ec_slave_t *slave, /**< EtherCAT slave */
-        ec_direction_t dir /**< input or output */
+        ec_slave_t *slave, /**< EtherCAT slave. */
+        ec_direction_t dir /**< Input or output. */
         )
 {
     unsigned int sync_index;
@@ -1181,11 +1181,18 @@
         return NULL;
     }
 
-    sync_index = (unsigned int) dir;
-    if (slave->sii.mailbox_protocols) sync_index += 2;
-
-    if (sync_index >= slave->sii.sync_count)
-        return NULL;
+    if (slave->sii.sync_count != 1) {
+        sync_index = (unsigned int) dir;
+        if (slave->sii.mailbox_protocols) sync_index += 2;
+
+        if (sync_index >= slave->sii.sync_count)
+            return NULL;
+    } else { // sync_count == 1
+        // A single sync manager may be used for inputs OR outputs!
+        if (ec_sync_direction(&slave->sii.syncs[0]) != dir)
+            return NULL;
+        sync_index = 0;
+    }
 
     return &slave->sii.syncs[sync_index];
 }
diff -r 17c3b3aafbb9 -r 6630f4dbcfd2 master/sync.c
--- a/master/sync.c	Fri Apr 25 15:01:15 2008 +0000
+++ b/master/sync.c	Tue May 13 16:07:06 2008 +0000
@@ -144,13 +144,22 @@
 {
     int index = sync->index;
 
-    if (sync->slave && sync->slave->sii.mailbox_protocols) {
-        index -= 2;
-    }
+    if (sync->slave->sii.sync_count != 1) {
+        if (sync->slave && sync->slave->sii.mailbox_protocols) {
+            index -= 2;
+        }
 
-    if (index < 0 || index > 1) {
-        EC_WARN("ec_sync_get_direction(): invalid sync manager index.\n");
-        return EC_DIR_OUTPUT;
+        if (index < 0 || index > 1) {
+            EC_WARN("ec_sync_get_direction(): invalid sync manager index.\n");
+            return EC_DIR_OUTPUT;
+        }
+    } else { // sync_count == 1
+        if (!list_empty(&sync->pdos.list)) {
+            const ec_pdo_t *pdo =
+                list_entry(sync->pdos.list.next, ec_pdo_t, list);
+            return pdo->dir;
+        }
+        
     }
 
     return (ec_direction_t) index;