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Fixed ecrt_domain_process() broken in 71d38ff288b3.

This commit is contained in:
Florian Pose 2012-12-05 11:32:45 +01:00
parent 385ff85aad
commit 86b332cafc
1 changed files with 23 additions and 11 deletions
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34
master/domain.c
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@ -451,26 +451,34 @@ uint8_t *ecrt_domain_data(ec_domain_t *domain)
void ecrt_domain_process(ec_domain_t *domain)
{
uint16_t wc_sum[EC_MAX_NUM_DEVICES] = {}, redundant_wc, wc_total;
unsigned int dev_idx, wc_change;
uint16_t wc_sum[EC_MAX_NUM_DEVICES] = {}, wc_total;
ec_datagram_pair_t *pair;
#if EC_MAX_NUM_DEVICES > 1
uint16_t datagram_pair_wc, redundant_wc;
unsigned int datagram_offset;
ec_fmmu_config_t *fmmu = list_first_entry(&domain->fmmu_configs,
ec_fmmu_config_t, list);
unsigned int redundancy;
#endif
unsigned int dev_idx, wc_change;
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "domain %u process\n", domain->index);
#endif
list_for_each_entry(pair, &domain->datagram_pairs, list) {
#if EC_MAX_NUM_DEVICES > 1
if (ec_master_num_devices(domain->master) > 1) {
ec_datagram_pair_t *pair;
ec_fmmu_config_t *fmmu =
list_first_entry(&domain->fmmu_configs, ec_fmmu_config_t, list);
datagram_pair_wc = ec_datagram_pair_process(pair, wc_sum);
#else
ec_datagram_pair_process(pair, wc_sum);
#endif
list_for_each_entry(pair, &domain->datagram_pairs, list) {
#if EC_MAX_NUM_DEVICES > 1
if (ec_master_num_devices(domain->master) > 1) {
ec_datagram_t *main_datagram = &pair->datagrams[EC_DEVICE_MAIN];
uint32_t logical_datagram_address =
EC_READ_U32(main_datagram->address);
size_t datagram_size = main_datagram->data_size;
uint16_t datagram_pair_wc;
#if DEBUG_REDUNDANCY
EC_MASTER_DBG(domain->master, 1, "dgram %s log=%u\n",
@ -479,7 +487,6 @@ void ecrt_domain_process(ec_domain_t *domain)
/* Redundancy: Go through FMMU configs to detect data changes. */
list_for_each_entry_from(fmmu, &domain->fmmu_configs, list) {
unsigned int datagram_offset;
ec_datagram_t *backup_datagram =
&pair->datagrams[EC_DEVICE_BACKUP];
@ -510,7 +517,6 @@ void ecrt_domain_process(ec_domain_t *domain)
fmmu->data_size);
}
#endif
datagram_pair_wc = ec_datagram_pair_process(pair, wc_sum);
if (data_changed(pair->send_buffer, main_datagram,
datagram_offset, fmmu->data_size)) {
@ -545,9 +551,10 @@ void ecrt_domain_process(ec_domain_t *domain)
}
}
}
}
#endif // EC_MAX_NUM_DEVICES > 1
}
#if EC_MAX_NUM_DEVICES > 1
redundant_wc = 0;
for (dev_idx = EC_DEVICE_BACKUP;
dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
@ -567,6 +574,9 @@ void ecrt_domain_process(ec_domain_t *domain)
}
domain->redundancy_active = redundancy;
}
#else
domain->redundancy_active = 0;
#endif
wc_change = 0;
wc_total = 0;
@ -596,6 +606,7 @@ void ecrt_domain_process(ec_domain_t *domain)
domain->working_counter_changes,
wc_total, domain->expected_working_counter);
}
#if EC_MAX_NUM_DEVICES > 1
if (ec_master_num_devices(domain->master) > 1) {
printk(" (");
for (dev_idx = EC_DEVICE_MAIN;
@ -608,6 +619,7 @@ void ecrt_domain_process(ec_domain_t *domain)
}
printk(")");
}
#endif
printk(".\n");
domain->working_counter_changes = 0;