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ethercat
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Removed allow_config flag and obsolete request to OP.

This commit is contained in:
Florian Pose 2011-09-16 14:10:23 +02:00
parent 197fe386b9
commit a4adf60027
4 changed files with 18 additions and 31 deletions
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39
master/fsm_master.c
View File

@ -583,30 +583,26 @@ void ec_fsm_master_action_configure(
if ((slave->current_state != slave->requested_state
|| slave->force_config) && !slave->error_flag) {
// Start slave configuration, if it is allowed.
// Start slave configuration
down(&master->config_sem);
if (!master->allow_config) {
up(&master->config_sem);
} else {
master->config_busy = 1;
up(&master->config_sem);
master->config_busy = 1;
up(&master->config_sem);
if (master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
new_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state, 0);
ec_state_string(slave->requested_state, new_state, 0);
EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n",
old_state, new_state,
slave->force_config ? " (forced)" : "");
}
fsm->idle = 0;
fsm->state = ec_fsm_master_state_configure_slave;
ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
fsm->state(fsm); // execute immediately
return;
if (master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
new_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state, 0);
ec_state_string(slave->requested_state, new_state, 0);
EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n",
old_state, new_state,
slave->force_config ? " (forced)" : "");
}
fsm->idle = 0;
fsm->state = ec_fsm_master_state_configure_slave;
ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
fsm->state(fsm); // execute immediately
return;
}
// slave has error flag set; process next one
@ -899,6 +895,7 @@ void ec_fsm_master_enter_write_system_times(
}
}
// scanning and setting system times complete
ec_master_request_op(master);
ec_fsm_master_restart(fsm);
}

5
master/master.c
View File

@ -158,7 +158,6 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
init_waitqueue_head(&master->scan_queue);
master->config_busy = 0;
master->allow_config = 1;
sema_init(&master->config_sem, 1);
init_waitqueue_head(&master->config_queue);
@ -594,7 +593,6 @@ int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
EC_MASTER_DBG(master, 1, "IDLE -> OPERATION.\n");
down(&master->config_sem);
master->allow_config = 0; // temporarily disable slave configuration
if (master->config_busy) {
up(&master->config_sem);
@ -655,7 +653,6 @@ int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
out_allow:
master->allow_scan = 1;
master->allow_config = 1;
return ret;
}
@ -2013,7 +2010,6 @@ int ecrt_master_activate(ec_master_t *master)
return ret;
}
master->allow_config = 1; // request the current configuration
master->allow_scan = 1; // allow re-scanning on topology change
master->active = 1;
@ -2087,7 +2083,6 @@ void ecrt_master_deactivate(ec_master_t *master)
EC_MASTER_WARN(master, "Failed to restart master thread!\n");
master->allow_scan = 1;
master->allow_config = 1;
master->active = 0;
}

2
master/master.h
View File

@ -196,8 +196,6 @@ struct ec_master {
slave scanning. */
unsigned int config_busy; /**< State of slave configuration. */
unsigned int allow_config; /**< \a True, if slave configuration is
allowed. */
struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
variable and the allow_config flag. */
wait_queue_head_t config_queue; /**< Queue for processes that wait for

3
master/slave_config.c
View File

@ -227,10 +227,7 @@ int ec_slave_config_attach(
slave->config = sc;
sc->slave = slave;
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);
return 0;
}