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ethercat
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Fix: Configuration of process data sync managers now in PREOP.

This commit is contained in:
Florian Pose 2006-11-03 15:35:31 +00:00
parent f9f2b40b65
commit 05557b7766
1 changed files with 81 additions and 14 deletions
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95
master/fsm.c
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@ -73,6 +73,7 @@ void ec_fsm_slaveconf_state_init(ec_fsm_t *);
void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);
void ec_fsm_slaveconf_state_sync(ec_fsm_t *);
void ec_fsm_slaveconf_state_preop(ec_fsm_t *);
void ec_fsm_slaveconf_state_sync2(ec_fsm_t *);
void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);
void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);
void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);
@ -80,6 +81,8 @@ void ec_fsm_slaveconf_state_op(ec_fsm_t *);
void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);
void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);
void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *);
void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *);
void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);
void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);
@ -1361,14 +1364,10 @@ void ec_fsm_slaveconf_enter_sync(ec_fsm_t *fsm /**< finite state machine */)
datagram->data + EC_SYNC_SIZE * mbox_sync.index);
}
}
else {
else if (slave->sii_mailbox_protocols) { // mailboxes present
list_for_each_entry(sync, &slave->sii_syncs, list) {
if (sync->index >= slave->base_sync_count) {
EC_ERR("Invalid sync manager configuration found!");
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_state_error;
return;
}
// only configure mailbox sync-managers
if (sync->index != 0 && sync->index != 1) continue;
ec_sync_config(sync, slave,
datagram->data + EC_SYNC_SIZE * sync->index);
}
@ -1423,8 +1422,6 @@ void ec_fsm_slaveconf_state_preop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
unsigned int j;
if (ec_fsm_change_exec(&fsm->fsm_change)) return;
@ -1450,12 +1447,75 @@ void ec_fsm_slaveconf_state_preop(ec_fsm_t *fsm /**< finite state machine */)
return;
}
if (!slave->base_fmmu_count) { // skip FMMU configuration
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
ec_fsm_slaveconf_enter_saveop(fsm);
return;
}
ec_fsm_slaveconf_enter_sync2(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
ec_sii_sync_t *sync;
if (list_empty(&slave->sii_syncs)) {
ec_fsm_slaveconf_enter_fmmu(fsm);
return;
}
// configure sync managers for process data
ec_datagram_npwr(datagram, slave->station_address, 0x0800,
EC_SYNC_SIZE * slave->base_sync_count);
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
list_for_each_entry(sync, &slave->sii_syncs, list) {
ec_sync_config(sync, slave,
datagram->data + EC_SYNC_SIZE * sync->index);
}
ec_master_queue_datagram(fsm->master, datagram);
fsm->slave_state = ec_fsm_slaveconf_state_sync2;
}
/*****************************************************************************/
/**
Slave configuration state: SYNC2.
*/
void ec_fsm_slaveconf_state_sync2(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to set process data sync managers on slave %i.\n",
slave->ring_position);
return;
}
ec_fsm_slaveconf_enter_fmmu(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
ec_datagram_t *datagram = &fsm->datagram;
unsigned int j;
if (!slave->base_fmmu_count) { // skip FMMU configuration
ec_fsm_slaveconf_enter_sdoconf(fsm);
return;
}
@ -1509,6 +1569,13 @@ void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
ec_fsm_slaveconf_enter_saveop(fsm);
return;
}
// start SDO configuration
fsm->slave_state = ec_fsm_slaveconf_state_sdoconf;
fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);