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ethercat
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BUGFIX: Fixed faulty state acknowledge behavior.

This commit is contained in:
Florian Pose 2006-10-17 14:36:53 +00:00
parent 6ede67c31d
commit 7dcc0827f1
1 changed files with 15 additions and 19 deletions
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34
master/fsm.c
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@ -1043,7 +1043,6 @@ void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
slave->ring_position, slave->current_state);
slave->current_state &= 0x0F;
}
// read base data
@ -1883,7 +1882,6 @@ void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
// state change error
fsm->change_new = slave->current_state & 0x0F;
EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
" (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
slave->current_state);
@ -1963,20 +1961,19 @@ void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->change_state = ec_fsm_error;
EC_ERR("Reception of AL status code datagram failed.\n");
return;
EC_WARN("Reception of AL status code datagram failed.\n");
}
if ((code = EC_READ_U16(datagram->data))) {
for (al_msg = al_status_messages; al_msg->code; al_msg++) {
if (al_msg->code != code) continue;
EC_ERR("AL status message 0x%04X: \"%s\".\n",
al_msg->code, al_msg->message);
break;
else {
if ((code = EC_READ_U16(datagram->data))) {
for (al_msg = al_status_messages; al_msg->code; al_msg++) {
if (al_msg->code != code) continue;
EC_ERR("AL status message 0x%04X: \"%s\".\n",
al_msg->code, al_msg->message);
break;
}
if (!al_msg->code)
EC_ERR("Unknown AL status code 0x%04X.\n", code);
}
if (!al_msg->code)
EC_ERR("Unknown AL status code 0x%04X.\n", code);
}
// acknowledge "old" slave state
@ -2022,7 +2019,6 @@ void ec_fsm_change_check_ack(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_slave_state_t ack_state;
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
@ -2036,11 +2032,11 @@ void ec_fsm_change_check_ack(ec_fsm_t *fsm /**< finite state machine */)
fsm->change_jiffies = datagram->jiffies_sent;
}
ack_state = EC_READ_U8(datagram->data);
slave->current_state = EC_READ_U8(datagram->data);
if (ack_state == slave->current_state) {
if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {
fsm->change_state = ec_fsm_error;
EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
EC_INFO("Acknowledged state 0x%02X on slave %i.\n",
slave->current_state, slave->ring_position);
return;
}
@ -2050,7 +2046,7 @@ void ec_fsm_change_check_ack(ec_fsm_t *fsm /**< finite state machine */)
// timeout while checking
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fsm->change_state = ec_fsm_error;
EC_ERR("Timeout while acknowleging state 0x%02X on slave %i.\n",
EC_ERR("Timeout while acknowledging state 0x%02X on slave %i.\n",
fsm->change_new, slave->ring_position);
return;
}