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ethercat
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Re-added slave.configured flag as slave.self_configured.

This commit is contained in:
Florian Pose 2007-01-09 14:36:08 +00:00
parent 3123861960
commit 9ff5f1348b
3 changed files with 15 additions and 4 deletions
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17
master/fsm.c
View File

@ -325,13 +325,20 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
if (slave->error_flag
|| !slave->online
|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
|| slave->current_state == slave->requested_state) continue;
|| (slave->current_state == slave->requested_state
&& slave->self_configured)) continue;
if (master->debug_level) {
ec_state_string(slave->current_state, old_state);
ec_state_string(slave->requested_state, new_state);
EC_DBG("Changing state of slave %i (%s -> %s).\n",
slave->ring_position, old_state, new_state);
if (slave->current_state != slave->requested_state) {
ec_state_string(slave->requested_state, new_state);
EC_DBG("Changing state of slave %i (%s -> %s).\n",
slave->ring_position, old_state, new_state);
}
else if (!slave->self_configured) {
EC_DBG("Reconfiguring slave %i (%s).\n",
slave->ring_position, old_state);
}
}
fsm->master_state = ec_fsm_master_configure_slave;
@ -1308,6 +1315,8 @@ void ec_fsm_slaveconf_state_init(ec_fsm_t *fsm /**< finite state machine */)
return;
}
slave->self_configured = 1;
if (master->debug_level) {
EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
}

1
master/slave.c
View File

@ -112,6 +112,7 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
slave->self_configured = 0;
slave->error_flag = 0;
slave->online = 1;
slave->fmmu_count = 0;

1
master/slave.h
View File

@ -197,6 +197,7 @@ struct ec_slave
ec_slave_state_t requested_state; /**< requested slave state */
ec_slave_state_t current_state; /**< current slave state */
unsigned int self_configured; /**< slave was configured by this master */
unsigned int error_flag; /**< stop processing after an error */
unsigned int online; /**< non-zero, if the slave responds. */