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Configure Pdos before configuring the Pdo sync managers, 

to earlier detect problems with non-existing SM information.
This commit is contained in:
Florian Pose 2008-08-01 08:58:35 +00:00
parent a2e6a8f815
commit 61994e0e0e
4 changed files with 58 additions and 64 deletions
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1
TODO
View File

@ -14,7 +14,6 @@ Version 1.4.0:
* Remove ec_sync_t::assign_source?
* Repair rcethercat status.
* Debug output for all configuration functions of the application interface.
* Output warning, if there is no sync manager for a configuration.
* Abort code messages in userspace.
Future issues:

59
documentation/graphs/fsm_slave_conf.dot
View File

@ -10,78 +10,61 @@ digraph slaveconf {
start -> init [weight=10]
init [fontname="Helvetica"]
//init -> init
//init -> error
init -> enter_mbox_sync [fontname="Helvetica",label ="No FMMUs"]
init -> enter_mbox_sync [fontname="Helvetica", label="No FMMUs"]
init -> clear_fmmus [weight=10]
clear_fmmus [fontname="Helvetica"]
//clear_fmmus -> clear_fmmus
//clear_fmmus -> error
clear_fmmus -> enter_mbox_sync [weight=10]
enter_mbox_sync [shape=point,label=""]
enter_mbox_sync -> end [fontname="Helvetica",label="INIT\nrequested"]
enter_mbox_sync -> preop [fontname="Helvetica",label="No mailboxes"]
enter_mbox_sync [shape=point, label=""]
enter_mbox_sync -> end [fontname="Helvetica", label="INIT\nrequested"]
enter_mbox_sync -> preop [fontname="Helvetica", label="No mailboxes"]
enter_mbox_sync -> mbox_sync [weight=10]
mbox_sync [fontname="Helvetica"]
//mbox_sync -> mbox_sync
//mbox_sync -> error
mbox_sync -> preop [weight=10]
preop [fontname="Helvetica"]
//preop -> preop
//preop -> error
preop -> end [fontname="Helvetica",label="PREOP\nrequested"]
preop -> enter_safeop [fontname="Helvetica",label="No slave\nconfig attached"]
preop -> end [fontname="Helvetica", label="PREOP\nrequested"]
preop -> enter_safeop [fontname="Helvetica", label="No slave\nconfig attached"]
preop -> enter_sdo_conf [weight=10]
enter_sdo_conf [shape=point,label=""]
enter_sdo_conf -> enter_pdo_sync [fontname="Helvetica",label="No Sdo\nconfigurations"]
enter_sdo_conf [shape=point, label=""]
enter_sdo_conf -> enter_pdo_conf [fontname="Helvetica", label="No Sdos\nconfigured"]
enter_sdo_conf -> sdo_conf [weight=10]
sdo_conf [fontname="Helvetica"]
//sdo_conf -> sdo_conf
//sdo_conf -> error
sdo_conf -> enter_pdo_sync [weight=10]
sdo_conf -> enter_pdo_conf [weight=10]
enter_pdo_sync [shape=point,label=""]
enter_pdo_sync -> enter_safeop [fontname="Helvetica",label="No Pdos"]
enter_pdo_conf [shape=point, label=""]
enter_pdo_conf -> pdo_conf [weight=10]
pdo_conf [fontname="Helvetica"]
pdo_conf -> enter_pdo_sync [weight=10]
enter_pdo_sync [shape=point, label=""]
enter_pdo_sync -> enter_fmmu [fontname="Helvetica", label="No Pdo SMs"]
enter_pdo_sync -> pdo_sync [weight=10]
pdo_sync [fontname="Helvetica"]
//pdo_sync -> pdo_sync
//pdo_sync -> error
pdo_sync -> pdo_conf [weight=10]
pdo_conf [fontname="Helvetica"]
//pdo_conf -> pdo_conf
//pdo_conf -> error
pdo_conf -> enter_fmmu [weight=10]
pdo_sync -> enter_fmmu [weight=10]
enter_fmmu [shape=point,label=""]
enter_fmmu -> enter_safeop [fontname="Helvetica",label="No FMMUs\nto configure"]
enter_fmmu -> enter_safeop [fontname="Helvetica", label="No FMMUs\nconfigured"]
enter_fmmu -> fmmu [weight=10]
fmmu [fontname="Helvetica"]
//fmmu -> fmmu
//fmmu -> error
fmmu -> enter_safeop [weight=10]
enter_safeop [shape=point,label=""]
enter_safeop -> safeop [weight=10]
safeop [fontname="Helvetica"]
//safeop -> safeop
//safeop -> error
safeop -> end [fontname="Helvetica",label="SAFEOP\nrequested"]
safeop -> end [fontname="Helvetica", label="SAFEOP\nrequested"]
safeop -> op [weight=10]
op [fontname="Helvetica"]
//op -> op
//op -> error
op -> end [weight=10]
op -> end// [weight=10]
end [fontname="Helvetica"]
}

2
master/fsm_pdo.c
View File

@ -413,7 +413,7 @@ void ec_fsm_pdo_conf_action_next_sync(
if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
if (!list_empty(&fsm->pdos.list))
EC_WARN("Pdos configured for SM%u, but slave %u does not "
"provide a sync manager configuration!\n",
"provide the sync manager information!\n",
fsm->sync_index, fsm->slave->ring_position);
continue;
}

60
master/fsm_slave_config.c
View File

@ -61,6 +61,7 @@ void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
@ -440,7 +441,7 @@ void ec_fsm_slave_config_enter_sdo_conf(
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
ec_fsm_slave_config_enter_pdo_sync(fsm);
ec_fsm_slave_config_enter_pdo_conf(fsm);
return;
}
@ -482,6 +483,39 @@ void ec_fsm_slave_config_state_sdo_conf(
}
// All Sdos are now configured.
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
/*****************************************************************************/
/** PDO_CONF entry function.
*/
void ec_fsm_slave_config_enter_pdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// Start configuring Pdos
ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
fsm->state = ec_fsm_slave_config_state_pdo_conf;
fsm->state(fsm); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: PDO_CONF.
*/
void ec_fsm_slave_config_state_pdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (ec_fsm_pdo_exec(fsm->fsm_pdo))
return;
if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
EC_WARN("Pdo configuration failed on slave %u.\n",
fsm->slave->ring_position);
}
ec_fsm_slave_config_enter_pdo_sync(fsm);
}
@ -509,7 +543,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
if (slave->sii.sync_count <= offset) {
// no Pdo sync managers to configure
ec_fsm_slave_config_enter_safeop(fsm);
ec_fsm_slave_config_enter_fmmu(fsm);
return;
}
@ -565,28 +599,6 @@ void ec_fsm_slave_config_state_pdo_sync(
return;
}
// Start configuring Pdos
ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
fsm->state = ec_fsm_slave_config_state_pdo_conf;
fsm->state(fsm); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: PDO_CONF.
*/
void ec_fsm_slave_config_state_pdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (ec_fsm_pdo_exec(fsm->fsm_pdo))
return;
if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
EC_WARN("Pdo configuration failed on slave %u.\n",
fsm->slave->ring_position);
}
ec_fsm_slave_config_enter_fmmu(fsm);
}