diff --git a/master/fsm.c b/master/fsm.c
index f035c8550f372c655fe6a417c2bc2a14f87dcd7f..186e51de21d67814090ea5ef0dde453f17eb8737 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -614,7 +614,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
|| slave->error_flag) continue;
if (master->debug_level) {
- EC_DBG("Fetching SDO dictionary of slave %i.\n",
+ EC_DBG("Fetching SDO dictionary from slave %i.\n",
slave->ring_position);
}
@@ -1052,8 +1052,10 @@ void ec_fsm_master_sdodict(ec_fsm_t *fsm /**< finite state machine */)
// SDO dictionary fetching finished
if (master->debug_level) {
- EC_DBG("Finished fetching SDO dictionary of slave %i.\n",
- slave->ring_position);
+ unsigned int sdo_count, entry_count;
+ ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
+ EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
+ sdo_count, entry_count, slave->ring_position);
}
// restart master state machine.
@@ -2320,7 +2322,6 @@ void ec_fsm_coe_dict_check(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */)
{
- ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
@@ -2375,17 +2376,11 @@ void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */)
sdo_count = (rec_size - 8) / 2;
- if (master->debug_level) {
- EC_DBG("Fetching %i SDOs.\n", sdo_count);
- }
-
for (i = 0; i < sdo_count; i++) {
sdo_index = EC_READ_U16(data + 8 + i * 2);
if (!sdo_index) {
- // sometimes index is 0... ???
- if (master->debug_level) {
- EC_DBG("Received SDO with index 0x0000.\n");
- }
+ EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
+ slave->ring_position);
continue;
}
@@ -2457,7 +2452,9 @@ void ec_fsm_coe_dict_desc_request(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
- EC_ERR("Reception of CoE SDO description request failed.\n");
+ EC_ERR("Reception of CoE SDO description"
+ " request failed on slave %i.\n", slave->ring_position);
+
return;
}
@@ -2482,7 +2479,9 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
- EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+ EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+ slave->ring_position);
+
return;
}
@@ -2524,7 +2523,8 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
- EC_ERR("Reception of CoE SDO description response failed.\n");
+ EC_ERR("Reception of CoE SDO description"
+ "response failed on slave %i.\n", slave->ring_position);
return;
}
@@ -2651,7 +2651,8 @@ void ec_fsm_coe_dict_entry_request(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
- EC_ERR("Reception of CoE SDO entry request failed.\n");
+ EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n",
+ slave->ring_position);
return;
}
@@ -2676,7 +2677,8 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
- EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+ EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+ slave->ring_position);
return;
}
@@ -2708,7 +2710,6 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
{
- ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_sdo_t *sdo = fsm->coe_sdo;
@@ -2719,7 +2720,8 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->coe_state = ec_fsm_error;
- EC_ERR("Reception of CoE SDO description response failed.\n");
+ EC_ERR("Reception of CoE SDO description"
+ " response failed on slave %i.\n", slave->ring_position);
return;
}
@@ -2842,10 +2844,6 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
return;
}
- if (master->debug_level) {
- EC_DBG("Finished fetching SDO descriptions.\n");
- }
-
fsm->coe_state = ec_fsm_end;
}
diff --git a/master/slave.c b/master/slave.c
index 48f071848fecded2ded058b63327cf3423718155..8e34a09e19a4af4d034f0b1373fdf1e5a27dbae4 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -960,6 +960,33 @@ int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
return 0;
}
+/*****************************************************************************/
+
+/**
+ Counts the total number of SDOs and entries in the dictionary.
+*/
+
+void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
+ unsigned int *sdo_count, /**< number of SDOs */
+ unsigned int *entry_count /**< total number of
+ entries */
+ )
+{
+ unsigned int sdos = 0, entries = 0;
+ ec_sdo_t *sdo;
+ ec_sdo_entry_t *entry;
+
+ list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
+ sdos++;
+ list_for_each_entry(entry, &sdo->entries, list) {
+ entries++;
+ }
+ }
+
+ *sdo_count = sdos;
+ *entry_count = entries;
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
diff --git a/master/slave.h b/master/slave.h
index 1a311874fbf6cd31c6575c96052356cc9c33d1bd..0e4705804f124811c5036c2ba943769063e64e0d 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -281,6 +281,9 @@ int ec_slave_has_subbus(const ec_slave_t *);
int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t);
+void ec_slave_sdo_dict_info(const ec_slave_t *,
+ unsigned int *, unsigned int *);
+
/*****************************************************************************/
#endif