bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

master FSM enables slave FSM 

slave FSM should not be active when master is scanning or configuring the slaves
This commit is contained in:
Martin Troxler 2009-12-15 10:59:07 +01:00
parent 94fec37d0f
commit 926685db26
3 changed files with 69 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
master/fsm_master.c
View File

@ -471,7 +471,14 @@ void ec_fsm_master_action_idle(
if (ec_fsm_master_action_process_sdo(fsm))
return;
// check, if slaves have an SDO dictionary to read out.
// enable processing of SDO/FOE requests
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_fsm_slave_ready(&slave->fsm);
}
// check, if slaves have an SDO dictionary to read out.
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {

73
master/fsm_slave.c
View File

@ -42,6 +42,7 @@
/*****************************************************************************/
void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
void ec_fsm_slave_state_ready(ec_fsm_slave_t *);
int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);
int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);
void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
@ -102,6 +103,25 @@ void ec_fsm_slave_exec(
return;
}
/*****************************************************************************/
/** Sets the current state of the state machine to READY
*
*/
void ec_fsm_slave_ready(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
if (fsm->state == ec_fsm_slave_state_idle) {
if (fsm->slave->master->debug_level) {
EC_DBG("Slave %u ready for SDO/FOE.\n",fsm->slave->ring_position);
}
fsm->state = ec_fsm_slave_state_ready;
}
return;
}
/******************************************************************************
* Slave state machine
*****************************************************************************/
@ -113,15 +133,29 @@ void ec_fsm_slave_exec(
*
*/
void ec_fsm_slave_state_idle(
ec_fsm_slave_t *fsm /**< Slave state machine. */
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
// Check for pending external SDO requests
if (ec_fsm_slave_action_process_sdo(fsm))
return;
// Check for pending FOE requests
if (ec_fsm_slave_action_process_foe(fsm))
return;
// do nothing
}
/*****************************************************************************/
/** Slave state: READY.
*
*
*/
void ec_fsm_slave_state_ready(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
// Check for pending external SDO requests
if (ec_fsm_slave_action_process_sdo(fsm))
return;
// Check for pending FOE requests
if (ec_fsm_slave_action_process_foe(fsm))
return;
}
@ -143,10 +177,17 @@ int ec_fsm_slave_action_process_sdo(
// search the first external request to be processed
list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {
if (slave->current_state == EC_SLAVE_STATE_INIT) {
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_WARN("Postponing SDO request, slave %u has ERROR.\n",
slave->ring_position);
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_WARN("Postponing SDO request, slave %u is in INIT.\n",
slave->ring_position);
return 0;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
list_del_init(&request->list); // dequeue
request->req.state = EC_INT_REQUEST_BUSY;
@ -184,11 +225,17 @@ int ec_fsm_slave_action_process_foe(
// search the first request to be processed
list_for_each_entry_safe(request, next, &slave->foe_requests, list) {
list_del_init(&request->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_WARN("Postponing FOE request, slave %u has ERROR.\n",
slave->ring_position);
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
list_del_init(&request->list); // dequeue
request->req.state = EC_INT_REQUEST_BUSY;
if (master->debug_level)
EC_DBG("Processing FoE request for slave %u.\n",
EC_DBG("Processing FOE request for slave %u.\n",
slave->ring_position);
fsm->foe_request = &request->req;
@ -239,7 +286,7 @@ void ec_fsm_slave_state_sdo_request(
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
fsm->state = ec_fsm_slave_state_ready;
}
@ -280,6 +327,6 @@ void ec_fsm_slave_state_foe_request(
wake_up(&slave->foe_queue);
fsm->foe_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
fsm->state = ec_fsm_slave_state_ready;
}

2
master/fsm_slave.h
View File

@ -65,7 +65,7 @@ void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_datagram_t *);
void ec_fsm_slave_clear(ec_fsm_slave_t *);
void ec_fsm_slave_exec(ec_fsm_slave_t *);
int ec_fsm_slave_idle(const ec_fsm_slave_t *);
void ec_fsm_slave_ready(ec_fsm_slave_t *);
/*****************************************************************************/