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ethercat
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Allow the slave to not respond to the mailbox sync manager configuration 

datagram for a certain time.
This commit is contained in:
Florian Pose 2009-01-27 14:14:37 +00:00
parent 682735201c
commit 6a5e90c4b1
3 changed files with 34 additions and 2 deletions
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1
TODO
View File

@ -26,7 +26,6 @@ Version 1.5.0:
* Bus simulator interface.
* Implement ecrt_master_slave() in kernel space.
* Rename phy-commands to register commands.
* Timeout for sync manager config after clearing.
Future issues:

33
master/fsm_slave_config.c
View File

@ -451,6 +451,8 @@ void ec_fsm_slave_config_enter_mbox_sync(
slave->sii.boot_tx_mailbox_size;
}
fsm->take_time = 1;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_mbox_sync;
}
@ -479,7 +481,36 @@ void ec_fsm_slave_config_state_mbox_sync(
return;
}
if (datagram->working_counter != 1) {
if (fsm->take_time) {
fsm->take_time = 0;
fsm->jiffies_start = datagram->jiffies_sent;
}
/* Because the sync manager configurations are cleared during the last
* cycle, some slaves do not immediately respond to the mailbox sync
* manager configuration datagram. Therefore, resend the datagram for
* a certain time, if the slave does not respond.
*/
if (datagram->working_counter == 0) {
unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
if (diff >= HZ) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Timeout while configuring mailbox sync managers of"
" slave %u.\n", slave->ring_position);
return;
}
else if (slave->master->debug_level) {
EC_DBG("Resending after %u ms...\n",
(unsigned int) diff * 1000 / HZ);
}
// send configuration datagram again
fsm->retries = EC_FSM_RETRIES;
return;
}
else if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set sync managers of slave %u: ",

2
master/fsm_slave_config.h
View File

@ -60,6 +60,8 @@ struct ec_fsm_slave_config
unsigned int retries; /**< Retries on datagram timeout. */
ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
ec_sdo_request_t request_copy; /**< Copied SDO request. */
unsigned long jiffies_start; /**< For timeout calculations. */
unsigned int take_time; /**< Store jiffies after datagram reception. */
};
/*****************************************************************************/