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ethercat
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Fetch Sdo dictionaries and process SII requests in operation mode.

This commit is contained in:
Florian Pose 2008-04-25 14:58:33 +00:00
parent 066546e81c
commit 24ac60fdcc
3 changed files with 22 additions and 24 deletions
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2
NEWS
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@ -50,6 +50,8 @@ Changes in version 1.4.0:
function.
- Removed the bus_state and bus_tainted flags from ec_master_state_t.
* Removed include/ecdb.h.
* Sdo dictionaries will now also be fetched in operation mode.
* SII write requests will now also be processed in operation mode.
* Mapping of Pdo entries is now supported.
* Current Pdo assignment/mapping is now read via CoE during bus scan, using
direct Sdo access, independent of the dictionary.

1
TODO
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@ -16,7 +16,6 @@ Version 1.4.0:
* Mailbox protocol handlers.
* Remove get_cycles() calls and references to cpu_khz to increase
portability.
* Scanning of Sdo dictionary / writing EEPROM in OPERATION state.
* Remove the end state of the master state machine.
* SDO write access in sysfs.
* Update documentation.

43
master/fsm_master.c
View File

@ -444,37 +444,34 @@ void ec_fsm_master_action_idle(
if (ec_fsm_master_action_process_sdo(fsm))
return;
if (master->mode == EC_MASTER_MODE_IDLE) {
// check, if slaves have an Sdo dictionary to read out.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
// check, if slaves have an Sdo dictionary to read out.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
|| slave->error_flag) continue;
if (master->debug_level) {
EC_DBG("Fetching Sdo dictionary from slave %u.\n",
slave->ring_position);
}
slave->sdo_dictionary_fetched = 1;
// start fetching Sdo dictionary
fsm->idle = 0;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_dictionary;
ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return;
if (master->debug_level) {
EC_DBG("Fetching Sdo dictionary from slave %u.\n",
slave->ring_position);
}
// check for pending SII write operations.
if (ec_fsm_master_action_process_sii(fsm))
return; // SII write request found
slave->sdo_dictionary_fetched = 1;
// start fetching Sdo dictionary
fsm->idle = 0;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_dictionary;
ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return;
}
// check for pending SII write operations.
if (ec_fsm_master_action_process_sii(fsm))
return; // SII write request found
fsm->state = ec_fsm_master_state_end;
}
@ -842,7 +839,7 @@ void ec_fsm_master_state_sdo_dictionary(
if (master->debug_level) {
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",
EC_DBG("Fetched %u Sdos and %u entries from slave %u.\n",
sdo_count, entry_count, slave->ring_position);
}