--- a/master/canopen.c Wed Apr 05 09:04:29 2006 +0000
+++ b/master/canopen.c Wed Apr 05 09:50:57 2006 +0000
@@ -64,7 +64,7 @@
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
- EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
+ EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
@@ -74,8 +74,11 @@
EC_READ_U8 (data + 2) >> 5 != 0x2 || // Upload response
EC_READ_U16(data + 3) != sdo_index || // Index
EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+ EC_ERR("SDO upload 0x%04X:%X failed:\n",
+ sdo_index, sdo_subindex, slave->ring_position);
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
+ ec_print_data(data, rec_size);
return -1;
}
@@ -121,9 +124,8 @@
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
- EC_ERR("SDO download of 0x%04X:%X (%i bytes) aborted on!"
- " slave %i.\n", sdo_index, sdo_subindex, size,
- slave->ring_position);
+ EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
+ sdo_index, sdo_subindex, size, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
@@ -131,10 +133,12 @@
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
EC_READ_U16(data + 3) != sdo_index || // Index
- EC_READ_U8 (data + 5) != sdo_subindex) // Subindex
- {
+ EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+ EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
+ sdo_index, sdo_subindex, size);
EC_ERR("Invalid SDO download response at slave %i!\n",
slave->ring_position);
+ ec_print_data(data, rec_size);
return -1;
}
@@ -170,7 +174,7 @@
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
- EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
+ EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
@@ -180,13 +184,16 @@
EC_READ_U8 (data + 2) >> 5 != 0x2 || // Initiate upload response
EC_READ_U16(data + 3) != sdo_index || // Index
EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+ EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
+ ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 10) {
EC_ERR("Received currupted SDO upload response!\n");
+ ec_print_data(data, rec_size);
return -1;
}
@@ -198,14 +205,12 @@
data_size = rec_size - 10;
- if (data_size == complete_size) {
- memcpy(target, data + 10, data_size);
- }
- else {
- EC_ERR("SDO data incomplete.\n");
- return -1;
- }
-
+ if (data_size != complete_size) {
+ EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
+ return -1;
+ }
+
+ memcpy(target, data + 10, data_size);
return 0;
}
@@ -233,8 +238,7 @@
EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
- EC_ERR("Mailbox checking failed on slave %i!\n",
- slave->ring_position);
+ EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -254,11 +258,13 @@
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
EC_ERR("Invalid SDO list response at slave %i!\n",
slave->ring_position);
+ ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 8) {
EC_ERR("Invalid data size!\n");
+ ec_print_data(data, rec_size);
return -1;
}
@@ -271,11 +277,18 @@
EC_ERR("Failed to allocate memory for SDO!\n");
return -1;
}
+
+ // Initialize SDO object
sdo->index = sdo_index;
+ sdo->type = 0x0000;
+ sdo->features = 0x00;
sdo->name = NULL;
+ INIT_LIST_HEAD(&sdo->entries);
+
list_add_tail(&sdo->list, &slave->sdo_dictionary);
}
- } while (EC_READ_U8(data + 2) & 0x80);
+ }
+ while (EC_READ_U8(data + 2) & 0x80);
// Alle Beschreibungen laden
if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
@@ -321,17 +334,18 @@
EC_ERR("Invalid object description response at slave %i while"
" fetching SDO 0x%04X!\n", slave->ring_position,
sdo->index);
+ ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 12) {
EC_ERR("Invalid data size!\n");
+ ec_print_data(data, rec_size);
return -1;
}
sdo->type = EC_READ_U16(data + 8);
sdo->features = EC_READ_U8(data + 11);
- INIT_LIST_HEAD(&sdo->entries);
name_size = rec_size - 12;
if (name_size) {
@@ -404,11 +418,13 @@
EC_ERR("Invalid entry description response at slave %i while"
" fetching SDO 0x%04X:%i!\n", slave->ring_position,
sdo->index, i);
+ ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 16) {
EC_ERR("Invalid data size!\n");
+ ec_print_data(data, rec_size);
return -1;
}
@@ -458,6 +474,7 @@
return;
}
}
+
EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
}
--- a/master/slave.c Wed Apr 05 09:04:29 2006 +0000
+++ b/master/slave.c Wed Apr 05 09:50:57 2006 +0000
@@ -88,8 +88,8 @@
ec_eeprom_sync_t *sync, *next_sync;
ec_eeprom_pdo_t *pdo, *next_pdo;
ec_eeprom_pdo_entry_t *entry, *next_ent;
- //ec_sdo_t *sdo, *next_sdo;
- //ec_sdo_entry_t *en, *next_en;
+ ec_sdo_t *sdo, *next_sdo;
+ ec_sdo_entry_t *en, *next_en;
// Alle Strings freigeben
list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
@@ -122,7 +122,6 @@
if (slave->eeprom_group) kfree(slave->eeprom_group);
if (slave->eeprom_desc) kfree(slave->eeprom_desc);
-#if 0
// Alle SDOs freigeben
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
@@ -136,7 +135,6 @@
}
ec_command_clear(&slave->mbox_command);
-#endif
}
/*****************************************************************************/
@@ -908,54 +906,41 @@
ec_sdo_entry_t *sdo_entry;
int first, i;
- if (!verbosity) {
- if (slave->type) {
- EC_INFO("%2i) %s %s: %s\n", slave->ring_position,
- slave->type->vendor_name, slave->type->product_name,
- slave->type->description);
- }
- else {
- EC_INFO("%2i) UNKNOWN SLAVE: 0x%08X 0x%08X\n",
- slave->ring_position, slave->sii_vendor_id,
- slave->sii_product_code);
- }
- return;
- }
-
- EC_INFO("x-- EtherCAT slave information ---------------\n");
-
if (slave->type) {
- EC_INFO("| Vendor \"%s\", Product \"%s\": %s\n",
+ EC_INFO("%i) %s %s: %s\n", slave->ring_position,
slave->type->vendor_name, slave->type->product_name,
slave->type->description);
}
else {
- EC_INFO("| *** This slave has no type information! ***\n");
- }
-
- EC_INFO("| Ring position: %i, Station address: 0x%04X\n",
- slave->ring_position, slave->station_address);
-
- EC_INFO("| Data link status:\n");
+ EC_INFO("%i) UNKNOWN SLAVE: vendor 0x%08X, product 0x%08X\n",
+ slave->ring_position, slave->sii_vendor_id,
+ slave->sii_product_code);
+ }
+
+ if (!verbosity) return;
+
+ EC_INFO(" Station address: 0x%04X\n", slave->station_address);
+
+ EC_INFO(" Data link status:\n");
for (i = 0; i < 2; i++) {
- EC_INFO("| Port %i: link %s, loop %s, %s\n", i,
+ EC_INFO(" Port %i: link %s, loop %s, comm %s\n", i,
slave->dl_status_link[i] ? "up" : "down",
slave->dl_status_loop[i] ? "closed" : "open",
- slave->dl_status_comm[i] ? "comm. establ." : "no comm.");
- }
-
- EC_INFO("| Base information:\n");
- EC_INFO("| Type %u, Revision %i, Build %i\n",
+ slave->dl_status_comm[i] ? "up" : "down");
+ }
+
+ EC_INFO(" Base information:\n");
+ EC_INFO(" Type %u, revision %i, build %i\n",
slave->base_type, slave->base_revision, slave->base_build);
- EC_INFO("| Supported FMMUs: %i, Sync managers: %i\n",
+ EC_INFO(" Supported FMMUs: %i, sync managers: %i\n",
slave->base_fmmu_count, slave->base_sync_count);
if (slave->sii_mailbox_protocols) {
- EC_INFO("| Mailbox communication:\n");
- EC_INFO("| RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
+ EC_INFO(" Mailbox communication:\n");
+ EC_INFO(" RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
- EC_INFO("| Supported protocols: ");
+ EC_INFO(" Supported protocols: ");
first = 1;
if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
@@ -989,28 +974,28 @@
printk("\n");
}
- EC_INFO("| EEPROM data:\n");
+ EC_INFO(" EEPROM data:\n");
if (slave->sii_alias)
- EC_INFO("| Configured station alias: 0x%04X (%i)\n",
+ EC_INFO(" Configured station alias: 0x%04X (%i)\n",
slave->sii_alias, slave->sii_alias);
- EC_INFO("| Vendor-ID: 0x%08X, Product code: 0x%08X\n",
+ EC_INFO(" Vendor-ID: 0x%08X, Product code: 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
- EC_INFO("| Revision number: 0x%08X, Serial number: 0x%08X\n",
+ EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n",
slave->sii_revision_number, slave->sii_serial_number);
if (slave->eeprom_name)
- EC_INFO("| Name: %s\n", slave->eeprom_name);
+ EC_INFO(" Name: %s\n", slave->eeprom_name);
if (slave->eeprom_group)
- EC_INFO("| Group: %s\n", slave->eeprom_group);
+ EC_INFO(" Group: %s\n", slave->eeprom_group);
if (slave->eeprom_desc)
- EC_INFO("| Description: %s\n", slave->eeprom_desc);
+ EC_INFO(" Description: %s\n", slave->eeprom_desc);
if (!list_empty(&slave->eeprom_syncs)) {
- EC_INFO("| Sync-Managers:\n");
+ EC_INFO(" Sync-Managers:\n");
list_for_each_entry(sync, &slave->eeprom_syncs, list) {
- EC_INFO("| %i: 0x%04X, length %i, control 0x%02X, %s\n",
+ EC_INFO(" %i: 0x%04X, length %i, control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
sync->length, sync->control_register,
sync->enable ? "enable" : "disable");
@@ -1018,39 +1003,36 @@
}
list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
- EC_INFO("| %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
+ EC_INFO(" %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
pdo->name ? pdo->name : "???",
pdo->index, pdo->sync_manager);
list_for_each_entry(pdo_entry, &pdo->entries, list) {
- EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n",
+ EC_INFO(" \"%s\" 0x%04X:%X, %i Bit\n",
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->bit_length);
}
}
- if (verbosity > 1) // sehr geschwätzig
- {
- if (!list_empty(&slave->sdo_dictionary)) {
- EC_INFO("| SDO-Dictionary:\n");
- list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- EC_INFO("| 0x%04X \"%s\"\n", sdo->index,
- sdo->name ? sdo->name : "");
- EC_INFO("| Type 0x%04X, features: 0x%02X\n",
- sdo->type, sdo->features);
- list_for_each_entry(sdo_entry, &sdo->entries, list) {
- EC_INFO("| 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
- sdo->index, sdo_entry->subindex,
- sdo_entry->name ? sdo_entry->name : "",
- sdo_entry->data_type, sdo_entry->bit_length);
- }
+ if (verbosity < 2) return;
+
+ if (!list_empty(&slave->sdo_dictionary)) {
+ EC_INFO(" SDO-Dictionary:\n");
+ list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
+ EC_INFO(" 0x%04X \"%s\"\n", sdo->index,
+ sdo->name ? sdo->name : "");
+ EC_INFO(" Type 0x%04X, features: 0x%02X\n",
+ sdo->type, sdo->features);
+ list_for_each_entry(sdo_entry, &sdo->entries, list) {
+ EC_INFO(" 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
+ sdo->index, sdo_entry->subindex,
+ sdo_entry->name ? sdo_entry->name : "",
+ sdo_entry->data_type, sdo_entry->bit_length);
}
}
}
-
- EC_INFO("x---------------------------------------------\n");
}
/*****************************************************************************/