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ethercat
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Removed slave online flag.

This commit is contained in:
Florian Pose 2008-04-25 12:45:44 +00:00
parent ec02b717fa
commit 0b9015848b
4 changed files with 20 additions and 80 deletions
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6
master/ethernet.c
View File

@ -358,8 +358,7 @@ int ec_eoe_is_open(const ec_eoe_t *eoe /**< EoE handler */)
void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)
{
if (eoe->slave->online_state == EC_SLAVE_OFFLINE ||
!eoe->slave->master->main_device.link_state)
if (eoe->slave->error_flag || !eoe->slave->master->main_device.link_state)
return;
ec_slave_mbox_prepare_check(eoe->slave, &eoe->datagram);
@ -559,8 +558,7 @@ void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE handler */)
unsigned int wakeup = 0;
#endif
if (eoe->slave->online_state == EC_SLAVE_OFFLINE ||
!eoe->slave->master->main_device.link_state)
if (eoe->slave->error_flag || !eoe->slave->master->main_device.link_state)
return;
spin_lock_bh(&eoe->tx_queue_lock);

53
master/fsm_master.c
View File

@ -190,23 +190,16 @@ void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machin
if (datagram->state == EC_DATAGRAM_TIMED_OUT)
return; // always retry
if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
fsm->slaves_responding = 0;
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
}
fsm->state = ec_fsm_master_state_error;
return;
}
// bus topology change?
if (datagram->working_counter != fsm->slaves_responding) {
fsm->topology_change_pending = 1;
fsm->slaves_responding = datagram->working_counter;
EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
}
EC_INFO("%u slave%s responding.\n",
fsm->slaves_responding,
fsm->slaves_responding == 1 ? "" : "s");
if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
fsm->state = ec_fsm_master_state_error;
return;
}
// slave states changed?
@ -304,7 +297,6 @@ int ec_fsm_master_action_process_sii(
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request;
ec_slave_t *slave;
// search the first request to be processed
while (1) {
@ -320,19 +312,10 @@ int ec_fsm_master_action_process_sii(
request->state = EC_REQUEST_BUSY;
up(&master->sii_sem);
slave = request->slave;
if (slave->online_state == EC_SLAVE_OFFLINE) {
EC_ERR("Discarding SII data, slave %i offline.\n",
slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->sii_queue);
continue;
}
// found pending SII write operation. execute it!
if (master->debug_level)
EC_DBG("Writing SII data to slave %i...\n",
slave->ring_position);
EC_DBG("Writing SII data to slave %u...\n",
request->slave->ring_position);
fsm->sii_request = request;
fsm->sii_index = 0;
ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->word_offset,
@ -414,7 +397,6 @@ int ec_fsm_master_action_process_sdo(
slave = request->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT ||
slave->online_state == EC_SLAVE_OFFLINE ||
slave->error_flag) {
EC_ERR("Discarding Sdo request, slave %u not ready.\n",
slave->ring_position);
@ -425,7 +407,7 @@ int ec_fsm_master_action_process_sdo(
// Found pending Sdo request. Execute it!
if (master->debug_level)
EC_DBG("Processing Sdo request for slave %i...\n",
EC_DBG("Processing Sdo request for slave %u...\n",
slave->ring_position);
// Start uploading Sdo
@ -459,7 +441,6 @@ int ec_fsm_master_action_configure(
// FIXME do not check all slaves in every cycle...
list_for_each_entry(slave, &master->slaves, list) {
if (slave->error_flag
|| slave->online_state == EC_SLAVE_OFFLINE
|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
|| (slave->current_state == slave->requested_state
&& slave->self_configured)) continue;
@ -529,7 +510,6 @@ void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
|| slave->online_state == EC_SLAVE_OFFLINE
|| slave->error_flag) continue;
if (master->debug_level) {
@ -608,17 +588,20 @@ void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state mach
}
// did the slave not respond to its station address?
if (datagram->working_counter == 0) {
ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
ec_fsm_master_action_next_slave_state(fsm);
if (datagram->working_counter != 1) {
if (!slave->error_flag) {
slave->error_flag = 1;
if (fsm->master->debug_level)
EC_DBG("Slave %u did not respond to state query.\n",
fsm->slave->ring_position);
}
fsm->topology_change_pending = 1;
fsm->state = ec_fsm_master_state_error;
return;
}
// FIXME what to to on multiple response?
// slave responded
// a single slave responded
ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
ec_slave_set_online_state(slave, EC_SLAVE_ONLINE);
// check, if new slave state has to be acknowledged
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {

30
master/slave.c
View File

@ -118,7 +118,6 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
slave->config = NULL;
slave->requested_state = EC_SLAVE_STATE_PREOP;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
slave->online_state = EC_SLAVE_ONLINE;
slave->self_configured = 0;
slave->error_flag = 0;
@ -328,35 +327,6 @@ void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
/**
* Sets the online state of a slave.
*/
void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_online_state_t new_state /**< new online state */
)
{
if (new_state == EC_SLAVE_OFFLINE &&
slave->online_state == EC_SLAVE_ONLINE) {
if (slave->master->debug_level)
EC_DBG("Slave %u: offline.\n", slave->ring_position);
}
else if (new_state == EC_SLAVE_ONLINE &&
slave->online_state == EC_SLAVE_OFFLINE) {
slave->error_flag = 0; // clear error flag
if (slave->master->debug_level) {
char cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, cur_state);
EC_DBG("Slave %u: online (%s).\n",
slave->ring_position, cur_state);
}
}
slave->online_state = new_state;
}
/*****************************************************************************/
/**
* Request a slave state and resets the error flag.
*/

11
master/slave.h
View File

@ -82,15 +82,6 @@ typedef enum {
/*****************************************************************************/
/** EtherCAT slave online state.
*/
typedef enum {
EC_SLAVE_OFFLINE,
EC_SLAVE_ONLINE
} ec_slave_online_state_t;
/*****************************************************************************/
/** Supported mailbox protocols.
*/
enum {
@ -182,7 +173,6 @@ struct ec_slave
ec_slave_config_t *config; /**< Current configuration. */
ec_slave_state_t requested_state; /**< Requested application state. */
ec_slave_state_t current_state; /**< Current application state. */
ec_slave_online_state_t online_state; /**< online state */
unsigned int self_configured; /**< Slave was configured by this master. */
unsigned int error_flag; /**< Stop processing after an error. */
@ -220,7 +210,6 @@ void ec_slave_clear_sync_managers(ec_slave_t *);
void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t);
// SII categories
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);