--- a/master/canopen.c Wed Apr 05 13:57:01 2006 +0000
+++ b/master/canopen.c Wed Apr 05 14:02:56 2006 +0000
@@ -23,18 +23,7 @@
/*****************************************************************************/
-/**
- SDO Abort Code Messages
-*/
-
-typedef struct
-{
- uint32_t code;
- const char *message;
-}
-ec_sdo_abort_message_t;
-
-const ec_sdo_abort_message_t sdo_abort_messages[];
+const ec_code_msg_t sdo_abort_messages[];
/*****************************************************************************/
@@ -462,7 +451,7 @@
void ec_canopen_abort_msg(uint32_t abort_code)
{
- const ec_sdo_abort_message_t *abort_msg;
+ const ec_code_msg_t *abort_msg;
for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
if (abort_msg->code == abort_code) {
@@ -477,7 +466,7 @@
/*****************************************************************************/
-const ec_sdo_abort_message_t sdo_abort_messages[] = {
+const ec_code_msg_t sdo_abort_messages[] = {
{0x05030000, "Toggle bit not changed"},
{0x05040000, "SDO protocol timeout"},
{0x05040001, "Client/Server command specifier not valid or unknown"},
--- a/master/master.c Wed Apr 05 13:57:01 2006 +0000
+++ b/master/master.c Wed Apr 05 14:02:56 2006 +0000
@@ -807,8 +807,7 @@
}
// Slaves aktivieren
- for (i = 0; i < master->slave_count; i++)
- {
+ for (i = 0; i < master->slave_count; i++) {
slave = master->slaves + i;
// Change state to INIT
@@ -852,8 +851,7 @@
// Known slave type, take type's SM information
if (type) {
- for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++)
- {
+ for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
sync = type->sync_managers[j];
if (ec_command_npwr(command, slave->station_address,
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
@@ -936,8 +934,7 @@
}
// Set FMMUs
- for (j = 0; j < slave->fmmu_count; j++)
- {
+ for (j = 0; j < slave->fmmu_count; j++) {
fmmu = &slave->fmmus[j];
if (ec_command_npwr(command, slave->station_address,
0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE))
--- a/master/slave.c Wed Apr 05 13:57:01 2006 +0000
+++ b/master/slave.c Wed Apr 05 14:02:56 2006 +0000
@@ -27,6 +27,10 @@
/*****************************************************************************/
+const ec_code_msg_t al_status_messages[];
+
+/*****************************************************************************/
+
/**
EtherCAT-Slave-Konstruktor.
*/
@@ -762,8 +766,8 @@
}
if (unlikely((end - start) >= timeout)) {
- EC_WARN("Failed to check state acknowledgement 0x%02X on slave %i"
- " - Timeout!\n", state,slave->ring_position);
+ EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
+ " - Timeout!\n", state, slave->ring_position);
return;
}
}
@@ -772,6 +776,43 @@
/*****************************************************************************/
/**
+ Reads the AL status code of a slave and displays it.
+
+ If the AL status code is not supported, or if no error occurred (both
+ resulting in code=0), nothing is displayed.
+*/
+
+void ec_slave_read_al_status_code(ec_slave_t *slave /**< EtherCAT-Slave */)
+{
+ ec_command_t *command;
+ uint16_t code;
+ const ec_code_msg_t *al_msg;
+
+ command = &slave->master->simple_command;
+
+ if (ec_command_nprd(command, slave->station_address, 0x0134, 2)) return;
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
+ EC_WARN("Failed to read AL status code on slave %i!\n",
+ slave->ring_position);
+ return;
+ }
+
+ if (!(code = EC_READ_U16(command->data))) return;
+
+ for (al_msg = al_status_messages; al_msg->code; al_msg++) {
+ if (al_msg->code == code) {
+ EC_ERR("AL status message 0x%04X: \"%s\".\n",
+ al_msg->code, al_msg->message);
+ return;
+ }
+ }
+
+ EC_ERR("Unknown AL status code 0x%04X.\n", code);
+}
+
+/*****************************************************************************/
+
+/**
Ändert den Zustand eines Slaves.
\return 0 bei Erfolg, sonst < 0
@@ -791,7 +832,7 @@
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
EC_WRITE_U16(command->data, state);
if (unlikely(ec_master_simple_io(slave->master, command))) {
- EC_ERR("Failed to set state %02X on slave %i!\n",
+ EC_ERR("Failed to set state 0x%02X on slave %i!\n",
state, slave->ring_position);
return -1;
}
@@ -806,7 +847,7 @@
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
- EC_ERR("Failed to check state %02X on slave %i!\n",
+ EC_ERR("Failed to check state 0x%02X on slave %i!\n",
state, slave->ring_position);
return -1;
}
@@ -814,10 +855,12 @@
end = get_cycles();
if (unlikely(EC_READ_U8(command->data) & 0x10)) { // State change error
- EC_ERR("Could not set state %02X - Slave %i refused state change"
- " (code %02X)!\n", state, slave->ring_position,
+ EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
+ " (code 0x%02X)!\n", state, slave->ring_position,
EC_READ_U8(command->data));
- ec_slave_state_ack(slave, EC_READ_U8(command->data) & 0x0F);
+ state = EC_READ_U8(command->data) & 0x0F;
+ ec_slave_read_al_status_code(slave);
+ ec_slave_state_ack(slave, state);
return -1;
}
@@ -827,7 +870,7 @@
}
if (unlikely((end - start) >= timeout)) {
- EC_ERR("Could not check state %02X of slave %i - Timeout!\n",
+ EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
state, slave->ring_position);
return -1;
}
@@ -1101,6 +1144,28 @@
/*****************************************************************************/
+const ec_code_msg_t al_status_messages[] = {
+ {0x0001, "Unspecified error"},
+ {0x0011, "Invalud requested state change"},
+ {0x0012, "Unknown requested state"},
+ {0x0013, "Bootstrap not supported"},
+ {0x0014, "No valid firmware"},
+ {0x0015, "Invalid mailbox configuration"},
+ {0x0016, "Invalid mailbox configuration"},
+ {0x0017, "Invalid sync manager configuration"},
+ {0x0018, "No valid inputs available"},
+ {0x0019, "No valid outputs"},
+ {0x001A, "Synchronisation error"},
+ {0x001B, "Sync manager watchdog"},
+ {0x0020, "Slave needs cold start"},
+ {0x0021, "Slave needs INIT"},
+ {0x0022, "Slave needs PREOP"},
+ {0x0023, "Slave needs SAVEOP"},
+ {}
+};
+
+/*****************************************************************************/
+
EXPORT_SYMBOL(ecrt_slave_write_alias);
/*****************************************************************************/