Improved output when PDO assignment/mapping fails.
--- a/master/fsm_pdo.c Tue Feb 23 15:13:56 2010 +0100
+++ b/master/fsm_pdo.c Tue Feb 23 15:49:12 2010 +0100
@@ -99,6 +99,21 @@
/*****************************************************************************/
+/** Print the current and desired PDO assignment.
+ */
+void ec_fsm_pdo_print(
+ ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ )
+{
+ printk("Currently assigned PDOs: ");
+ ec_pdo_list_print(&fsm->sync->pdos);
+ printk(". PDOs to assign: ");
+ ec_pdo_list_print(&fsm->pdos);
+ printk("\n");
+}
+
+/*****************************************************************************/
+
/** Start reading the PDO configuration.
*/
void ec_fsm_pdo_start_reading(
@@ -501,13 +516,8 @@
return;
}
- if (fsm->slave->master->debug_level) {
- // TODO display diff
- EC_DBG("Changing mapping of PDO 0x%04X.\n", fsm->pdo->index);
- }
-
ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
- fsm->pdo);
+ fsm->pdo, &fsm->slave_pdo);
fsm->state = ec_fsm_pdo_conf_state_mapping;
fsm->state(fsm); // execure immediately
}
@@ -569,12 +579,7 @@
if (fsm->slave->master->debug_level) {
EC_DBG("PDO assignment of SM%u differs:\n", fsm->sync_index);
- EC_DBG("Currently assigned PDOs: ");
- ec_pdo_list_print(&fsm->sync->pdos);
- printk("\n");
- EC_DBG("PDOs to assign: ");
- ec_pdo_list_print(&fsm->pdos);
- printk("\n");
+ EC_DBG(""); ec_fsm_pdo_print(fsm);
}
// PDO assignment has to be changed. Does the slave support this?
@@ -583,6 +588,7 @@
&& !fsm->slave->sii.coe_details.enable_pdo_assign)) {
EC_WARN("Slave %u does not support assigning PDOs!\n",
fsm->slave->ring_position);
+ EC_WARN(""); ec_fsm_pdo_print(fsm);
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
@@ -619,6 +625,7 @@
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_WARN("Failed to clear PDO assignment of SM%u.\n", fsm->sync_index);
+ EC_WARN(""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
@@ -680,6 +687,7 @@
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_WARN("Failed to assign PDO 0x%04X at position %u of SM%u.\n",
fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
+ EC_WARN(""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
@@ -720,6 +728,7 @@
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_WARN("Failed to set number of assigned PDOs of SM%u.\n",
fsm->sync_index);
+ EC_WARN(""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
--- a/master/fsm_pdo_entry.c Tue Feb 23 15:13:56 2010 +0100
+++ b/master/fsm_pdo_entry.c Tue Feb 23 15:49:12 2010 +0100
@@ -84,6 +84,21 @@
/*****************************************************************************/
+/** Print the current and desired PDO mapping.
+ */
+void ec_fsm_pdo_entry_print(
+ ec_fsm_pdo_entry_t *fsm /**< PDO configuration state machine. */
+ )
+{
+ printk("Currently mapped PDO entries: ");
+ ec_pdo_print_entries(fsm->cur_pdo);
+ printk(". Entries to map: ");
+ ec_pdo_print_entries(fsm->source_pdo);
+ printk("\n");
+}
+
+/*****************************************************************************/
+
/** Start reading a PDO's entries.
*/
void ec_fsm_pdo_entry_start_reading(
@@ -107,11 +122,18 @@
void ec_fsm_pdo_entry_start_configuration(
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_slave_t *slave, /**< slave to configure */
- const ec_pdo_t *pdo /**< PDO with the desired entries. */
+ const ec_pdo_t *pdo, /**< PDO with the desired entries. */
+ const ec_pdo_t *cur_pdo /**< Current PDO mapping. */
)
{
fsm->slave = slave;
fsm->source_pdo = pdo;
+ fsm->cur_pdo = cur_pdo;
+
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Changing mapping of PDO 0x%04X.\n", pdo->index);
+ EC_DBG(""); ec_fsm_pdo_entry_print(fsm);
+ }
fsm->state = ec_fsm_pdo_entry_conf_state_start;
}
@@ -310,6 +332,7 @@
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
EC_WARN("Slave %u does not support changing the PDO mapping!\n",
fsm->slave->ring_position);
+ EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -361,6 +384,7 @@
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_WARN("Failed to clear PDO mapping.\n");
+ EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -422,6 +446,7 @@
EC_WARN("Failed to map PDO entry 0x%04X:%02X (%u bit) to "
"position %u.\n", fsm->entry->index, fsm->entry->subindex,
fsm->entry->bit_length, fsm->entry_pos);
+ EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -461,7 +486,8 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to set number of entries.\n");
+ EC_WARN("Failed to set number of entries.\n");
+ EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
--- a/master/fsm_pdo_entry.h Tue Feb 23 15:13:56 2010 +0100
+++ b/master/fsm_pdo_entry.h Tue Feb 23 15:49:12 2010 +0100
@@ -58,6 +58,7 @@
ec_slave_t *slave; /**< Slave the FSM runs on. */
ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */
const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */
+ const ec_pdo_t *cur_pdo; /**< PDO with current mapping (display only). */
const ec_pdo_entry_t *entry; /**< Current entry. */
unsigned int entry_count; /**< Number of entries. */
unsigned int entry_pos; /**< Position in PDO mapping. */
@@ -71,7 +72,7 @@
void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,
ec_pdo_t *);
void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,
- const ec_pdo_t *);
+ const ec_pdo_t *, const ec_pdo_t *);
int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *);
int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);
--- a/master/pdo.c Tue Feb 23 15:13:56 2010 +0100
+++ b/master/pdo.c Tue Feb 23 15:49:12 2010 +0100
@@ -291,3 +291,25 @@
}
/*****************************************************************************/
+
+/** Outputs the PDOs in the list.
+ */
+void ec_pdo_print_entries(
+ const ec_pdo_t *pdo /**< PDO. */
+ )
+{
+ const ec_pdo_entry_t *entry;
+
+ if (list_empty(&pdo->entries)) {
+ printk("(none)");
+ } else {
+ list_for_each_entry(entry, &pdo->entries, list) {
+ printk("0x%04X:%02X/%u",
+ entry->index, entry->subindex, entry->bit_length);
+ if (entry->list.next != &pdo->entries)
+ printk(" ");
+ }
+ }
+}
+
+/*****************************************************************************/
--- a/master/pdo.h Tue Feb 23 15:13:56 2010 +0100
+++ b/master/pdo.h Tue Feb 23 15:49:12 2010 +0100
@@ -68,6 +68,8 @@
const ec_pdo_entry_t *ec_pdo_find_entry_by_pos_const(
const ec_pdo_t *, unsigned int);
+void ec_pdo_print_entries(const ec_pdo_t *);
+
/*****************************************************************************/
#endif
--- a/master/pdo_list.c Tue Feb 23 15:13:56 2010 +0100
+++ b/master/pdo_list.c Tue Feb 23 15:49:12 2010 +0100
@@ -326,11 +326,15 @@
{
const ec_pdo_t *pdo;
- list_for_each_entry(pdo, &pl->list, list) {
- printk("0x%04X", pdo->index);
- if (pdo->list.next != &pl->list)
- printk(" ");
- }
-}
-
-/*****************************************************************************/
+ if (list_empty(&pl->list)) {
+ printk("(none)");
+ } else {
+ list_for_each_entry(pdo, &pl->list, list) {
+ printk("0x%04X", pdo->index);
+ if (pdo->list.next != &pl->list)
+ printk(" ");
+ }
+ }
+}
+
+/*****************************************************************************/