From 4349375d286e012f1448be0aa74d3e42f48ac465 Mon Sep 17 00:00:00 2001 From: Florian Pose Date: Wed, 18 Jun 2008 14:37:20 +0000 Subject: [PATCH] Retry reading Pdo assignment. --- master/fsm_coe_map.c | 10 ++++++++++ master/fsm_coe_map.h | 2 ++ 2 files changed, 12 insertions(+) diff --git a/master/fsm_coe_map.c b/master/fsm_coe_map.c index cde510e7..5033e004 100644 --- a/master/fsm_coe_map.c +++ b/master/fsm_coe_map.c @@ -183,6 +183,7 @@ void ec_fsm_coe_map_action_next_dir( ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0); ecrt_sdo_request_read(&fsm->request); + fsm->retries = 5; fsm->state = ec_fsm_coe_map_state_pdo_count; ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately @@ -209,6 +210,15 @@ void ec_fsm_coe_map_state_pdo_count( if (ec_fsm_coe_exec(fsm->fsm_coe)) return; if (!ec_fsm_coe_success(fsm->fsm_coe)) { + if (fsm->retries--) { + if (fsm->slave->master->debug_level) + EC_DBG("Failed to read number of assigned Pdos from " + "slave %u. Retrying...\n", fsm->slave->ring_position); + ecrt_sdo_request_read(&fsm->request); + ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); + ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately + return; + } EC_ERR("Failed to read number of assigned Pdos from slave %u.\n", fsm->slave->ring_position); fsm->state = ec_fsm_coe_map_state_error; diff --git a/master/fsm_coe_map.h b/master/fsm_coe_map.h index 297fec02..17dce52d 100644 --- a/master/fsm_coe_map.h +++ b/master/fsm_coe_map.h @@ -72,6 +72,8 @@ struct ec_fsm_coe_map ec_sdo_t *pdo_sdo; /**< Current Pdo Sdo. */ uint8_t pdo_subindices; /**< Number of Pdo entries. */ uint16_t pdo_subindex; /**< Current subindex in Pdo Sdo. */ + + unsigned int retries; /**< Retry count. */ }; /*****************************************************************************/