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ethercat
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New transition in slave conf state machine: Skip fmmu and SDO configuration.

This commit is contained in:
Florian Pose 2006-08-05 07:11:59 +00:00
parent 8a6172d8f2
commit 40745b789e
1 changed files with 13 additions and 6 deletions
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19
master/fsm.c
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@ -1382,11 +1382,18 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
return;
}
if (!slave->base_fmmu_count) {
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
if (!slave->base_fmmu_count) { // skip FMMU configuration
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
return;
}
fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
fsm->coe_state = ec_fsm_coe_down_start;
fsm->coe_state(fsm); // execute immediately
return;
}
@ -1424,7 +1431,7 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
}
// No CoE configuration to be applied? Jump to SAVEOP state.
if (list_empty(&slave->sdo_confs)) {
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;