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Better handling of unexpected working counters; introduced 

ec_datagram_print_wc_error().
This commit is contained in:
Florian Pose 2007-09-12 10:07:55 +00:00
parent fd2c20530e
commit 5bcf9d740f
7 changed files with 138 additions and 66 deletions
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20
master/datagram.c
View File

@ -299,3 +299,23 @@ int ec_datagram_lrw(ec_datagram_t *datagram,
}
/*****************************************************************************/
/**
* Evaluates the working counter of a single-cast datagram.
* Outputs an error message.
*/
void ec_datagram_print_wc_error(
const ec_datagram_t *datagram
)
{
if (datagram->working_counter == 0)
printk("No response.");
else if (datagram->working_counter > 1)
printk("%u slaves responded!", datagram->working_counter);
else
printk("Success.");
printk("\n");
}
/*****************************************************************************/

2
master/datagram.h
View File

@ -121,6 +121,8 @@ int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);
int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);
int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);
void ec_datagram_print_wc_error(const ec_datagram_t *);
/*****************************************************************************/
#endif

33
master/fsm_change.c
View File

@ -190,13 +190,14 @@ void ec_fsm_change_state_check(ec_fsm_change_t *fsm
fsm->jiffies_start = datagram->jiffies_sent;
}
if (datagram->working_counter != 1) {
if (datagram->working_counter == 0) {
if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {
char state_str[EC_STATE_STRING_SIZE];
ec_state_string(fsm->requested_state, state_str);
fsm->state = ec_fsm_change_state_error;
EC_ERR("Failed to set state %s on slave %i: Slave did not"
" respond.\n", state_str, fsm->slave->ring_position);
EC_ERR("Failed to set state %s on slave %i: ",
state_str, fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -207,6 +208,16 @@ void ec_fsm_change_state_check(ec_fsm_change_t *fsm
return;
}
if (unlikely(datagram->working_counter > 1)) {
char state_str[EC_STATE_STRING_SIZE];
ec_state_string(fsm->requested_state, state_str);
fsm->state = ec_fsm_change_state_error;
EC_ERR("Failed to set state %s on slave %i: ",
state_str, fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->take_time = 1;
// read AL status from slave
@ -242,8 +253,9 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
char req_state[EC_STATE_STRING_SIZE];
ec_state_string(fsm->requested_state, req_state);
fsm->state = ec_fsm_change_state_error;
EC_ERR("Failed to check state %s on slave %i.\n",
EC_ERR("Failed to check state %s on slave %i: ",
req_state, slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -372,7 +384,8 @@ void ec_fsm_change_state_code(ec_fsm_change_t *fsm
}
if (datagram->working_counter != 1) {
EC_WARN("Reception of AL status code datagram failed.\n");
EC_WARN("Reception of AL status code datagram failed: ");
ec_datagram_print_wc_error(datagram);
}
else {
if ((code = EC_READ_U16(datagram->data))) {
@ -433,8 +446,9 @@ void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_change_state_error;
EC_ERR("Reception of state ack datagram failed - slave %i did not"
" respond.\n", slave->ring_position);
EC_ERR("Reception of state ack datagram failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -471,8 +485,9 @@ void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_change_state_error;
EC_ERR("Reception of state ack check datagram failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of state ack check datagram failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}

89
master/fsm_coe.c
View File

@ -289,8 +289,9 @@ void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE dictionary request failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE dictionary request failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -325,9 +326,9 @@ void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check datagram failed - slave %i did"
" not respond.\n",
EC_ERR("Reception of CoE mailbox check datagram failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -381,8 +382,9 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE dictionary response failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE dictionary response failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -506,8 +508,9 @@ void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE SDO description request failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE SDO description"
" request failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -542,8 +545,9 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check datagram failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -596,8 +600,9 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE SDO description response failed - slave %i"
" did not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE SDO description"
" response failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -709,8 +714,9 @@ void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE SDO entry request failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE SDO entry request failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -746,8 +752,9 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check datagram failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -801,8 +808,9 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE SDO description response failed - slave %i"
" did not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE SDO description"
" response failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -991,8 +999,9 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE download request failed - slave %i did not"
" respond.\n", slave->ring_position);
EC_ERR("Reception of CoE download request failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1027,8 +1036,9 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check datagram failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1080,8 +1090,9 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE download response failed - slave %i did not"
" respond.\n", slave->ring_position);
EC_ERR("Reception of CoE download response failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1200,8 +1211,9 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload request failed - slave %i did not"
" respond.\n", slave->ring_position);
EC_ERR("Reception of CoE upload request failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1236,8 +1248,9 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check datagram failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1294,8 +1307,9 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload response failed - slave %i did not"
" respond.\n", slave->ring_position);
EC_ERR("Reception of CoE upload response failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1439,8 +1453,9 @@ void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload segment request failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE upload segment"
" request failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1475,8 +1490,9 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check datagram failed - slave %i did"
" not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1533,8 +1549,9 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload segment response failed - slave %i"
" did not respond.\n", slave->ring_position);
EC_ERR("Reception of CoE upload segment"
" response failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}

10
master/fsm_master.c
View File

@ -587,18 +587,21 @@ void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state mach
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_ERR("Failed to receive AL state datagram for slave %i"
" (datagram state %i)\n", slave->ring_position, datagram->state);
" (datagram state %i)\n",
slave->ring_position, datagram->state);
fsm->state = ec_fsm_master_state_error;
return;
}
// did the slave not respond to its station address?
if (datagram->working_counter != 1) {
if (datagram->working_counter == 0) {
ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
ec_fsm_master_action_next_slave_state(fsm);
return;
}
// FIXME what to to on multiple response?
// 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);
@ -774,8 +777,9 @@ void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
}
if (datagram->working_counter != 1) {
EC_ERR("Failed to write station address - slave %i did not respond.\n",
EC_ERR("Failed to write station address of slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
fsm->state = ec_fsm_master_state_error;
return;
}

20
master/fsm_sii.c
View File

@ -196,8 +196,9 @@ void ec_fsm_sii_read_check(ec_fsm_sii_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_error;
EC_ERR("Reception of SII read datagram failed - slave %i did not"
" respond.\n", fsm->slave->ring_position);
EC_ERR("Reception of SII read datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -242,8 +243,9 @@ void ec_fsm_sii_read_fetch(ec_fsm_sii_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_error;
EC_ERR("Reception of SII check/fetch datagram failed - slave %i did"
" not respond\n", fsm->slave->ring_position);
EC_ERR("Reception of SII check/fetch datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -338,8 +340,9 @@ void ec_fsm_sii_write_check(ec_fsm_sii_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_error;
EC_ERR("Reception of SII write datagram failed - slave %i did not"
" respond.\n", fsm->slave->ring_position);
EC_ERR("Reception of SII write datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -375,8 +378,9 @@ void ec_fsm_sii_write_check2(ec_fsm_sii_t *fsm /**< finite state machine */)
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_error;
EC_ERR("Reception of SII write check datagram failed - slave %i did"
" not respond.\n", fsm->slave->ring_position);
EC_ERR("Reception of SII write check datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}

30
master/fsm_slave.c
View File

@ -226,8 +226,9 @@ void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machin
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to write station address - slave %i did not respond.\n",
EC_ERR("Failed to write station address on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -243,7 +244,9 @@ void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machin
Slave scan state: STATE.
*/
void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *fsm /**< slave state machine */)
void ec_fsm_slave_scan_state_state(
ec_fsm_slave_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -262,8 +265,9 @@ void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *fsm /**< slave state machine
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to read AL state - slave %i did not respond.\n",
EC_ERR("Failed to read AL state of slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -306,8 +310,9 @@ void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine *
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to read base data - slave %i did not respond.\n",
EC_ERR("Failed to read base data from slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -352,8 +357,9 @@ void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machi
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to read DL status - slave %i did not respond.\n",
EC_ERR("Failed to read DL status from slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -644,8 +650,9 @@ void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to clear FMMUs - slave %i did not respond.\n",
EC_ERR("Failed to clear FMMUs of slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -726,8 +733,9 @@ void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *fsm /**< slave state mach
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to set sync managers - slave %i did not respond.\n",
EC_ERR("Failed to set sync managers of slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -941,8 +949,9 @@ void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machi
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to set process data sync managers - slave %i did not"
" respond.\n", slave->ring_position);
EC_ERR("Failed to set process data sync managers of slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@ -1002,8 +1011,9 @@ void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to set FMMUs - slave %i did not respond.\n",
EC_ERR("Failed to set FMMUs of slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}