From 962dcb9e38e52a023c078bd9ef4f117b0a328ed4 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Wed, 24 Sep 2008 08:32:55 +0000
Subject: [PATCH] Only query Sdo information service, if slave supports it.
---
master/fsm_coe.c | 7 +++++++
master/fsm_master.c | 3 +++
2 files changed, 10 insertions(+)
diff --git a/master/fsm_coe.c b/master/fsm_coe.c
index 903d457a..e2634e10 100644
--- a/master/fsm_coe.c
+++ b/master/fsm_coe.c
@@ -281,6 +281,13 @@ void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
+ if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
+ EC_ERR("Slave %u does not support Sdo information service!\n",
+ slave->ring_position);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fsm->state = ec_fsm_coe_error;
return;
diff --git a/master/fsm_master.c b/master/fsm_master.c
index 3d4b4515..002fc7b5 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -489,8 +489,11 @@ void ec_fsm_master_action_idle(
slave < master->slaves + master->slave_count;
slave++) {
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
+ || (slave->sii.has_general
+ && !slave->sii.coe_details.enable_sdo_info)
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
+ || slave->current_state == EC_SLAVE_STATE_UNKNOWN
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
) continue;
--
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