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Improved DC sync at startup: Abort iterating though slaves and first correct 

system time offsets, then begin configuring at slave 0.
This commit is contained in:
Florian Pose 2011-08-09 22:10:45 +02:00
parent 2b8cee1651
commit a877b8583c
2 changed files with 20 additions and 1 deletions
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1
documentation/graphs/fsm_master.dot
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@ -37,6 +37,7 @@ digraph master {
action_configure [shape=point,label=""] action_configure [shape=point,label=""]
action_configure -> configure_slave [weight=10] action_configure -> configure_slave [weight=10]
action_configure -> action_next_slave_state action_configure -> action_next_slave_state
action_configure -> write_system_times
read_state -> acknowledge [weight=10] read_state -> acknowledge [weight=10]
read_state -> action_configure read_state -> action_configure

20
master/fsm_master.c
View File

@ -566,6 +566,17 @@ void ec_fsm_master_action_configure(
ec_master_t *master = fsm->master; ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave; ec_slave_t *slave = fsm->slave;
if (master->config_changed) {
// abort iterating through slaves,
// first compensate DC system time offsets,
// then begin configuring at slave 0
EC_MASTER_DBG(master, 1, "Configuration changed"
" (aborting state check).\n");
fsm->slave = master->slaves; // begin with first slave
ec_fsm_master_enter_write_system_times(fsm);
}
// Does the slave have to be configured? // Does the slave have to be configured?
if ((slave->current_state != slave->requested_state if ((slave->current_state != slave->requested_state
|| slave->force_config) && !slave->error_flag) { || slave->force_config) && !slave->error_flag) {
@ -857,6 +868,7 @@ void ec_fsm_master_enter_write_system_times(
EC_MASTER_DBG(master, 1, "Writing system time offsets...\n"); EC_MASTER_DBG(master, 1, "Writing system time offsets...\n");
if (master->has_app_time) { if (master->has_app_time) {
while (fsm->slave < master->slaves + master->slave_count) { while (fsm->slave < master->slaves + master->slave_count) {
if (!fsm->slave->base_dc_supported if (!fsm->slave->base_dc_supported
|| !fsm->slave->has_dc_system_time) { || !fsm->slave->has_dc_system_time) {
@ -873,8 +885,14 @@ void ec_fsm_master_enter_write_system_times(
fsm->state = ec_fsm_master_state_dc_read_offset; fsm->state = ec_fsm_master_state_dc_read_offset;
return; return;
} }
} else { } else {
EC_MASTER_DBG(master, 1, "No app_time received up to now.\n"); if (master->active) {
EC_MASTER_ERR(master, "No app_time received up to now,"
" but master already active).\n");
} else {
EC_MASTER_DBG(master, 1, "No app_time received up to now.\n");
}
} }
ec_master_request_op(master); ec_master_request_op(master);