bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Prefer EEPROM sync manager information also in FSM.

This commit is contained in:
Florian Pose 2006-07-18 16:40:32 +00:00
parent 3e7365a3fb
commit 25014a738b
1 changed files with 31 additions and 32 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

63
master/fsm.c
View File

@ -1143,8 +1143,24 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
EC_SYNC_SIZE * slave->base_sync_count);
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
// does the slave supply sync manager configurations in its EEPROM?
if (!list_empty(&slave->eeprom_syncs)) {
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
if (eeprom_sync->index >= slave->base_sync_count) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Invalid sync manager configuration found!");
return;
}
ec_eeprom_sync_config(eeprom_sync, slave,
datagram->data + EC_SYNC_SIZE
* eeprom_sync->index);
}
}
// known slave type, take type's SM information
if (slave->type) {
else if (slave->type) {
for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
sync = slave->type->sync_managers[j];
ec_sync_config(sync, slave, datagram->data + EC_SYNC_SIZE * j);
@ -1154,38 +1170,21 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
// unknown type, but slave has mailbox
else if (slave->sii_mailbox_protocols)
{
// does it supply sync manager configurations in its EEPROM?
if (!list_empty(&slave->eeprom_syncs)) {
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
if (eeprom_sync->index >= slave->base_sync_count) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Invalid sync manager configuration found!");
return;
}
ec_eeprom_sync_config(eeprom_sync, slave,
datagram->data + EC_SYNC_SIZE
* eeprom_sync->index);
}
}
// guess mailbox settings
mbox_sync.physical_start_address =
slave->sii_rx_mailbox_offset;
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 1;
ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
// no sync manager information; guess mailbox settings
else {
mbox_sync.physical_start_address =
slave->sii_rx_mailbox_offset;
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 1;
ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
mbox_sync.physical_start_address =
slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 1;
ec_eeprom_sync_config(&mbox_sync, slave,
datagram->data + EC_SYNC_SIZE);
}
mbox_sync.physical_start_address =
slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 1;
ec_eeprom_sync_config(&mbox_sync, slave,
datagram->data + EC_SYNC_SIZE);
EC_INFO("Mailbox configured for unknown slave %i\n",
slave->ring_position);