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ethercat
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Clear station addresses with broadcast before setting them.

This commit is contained in:
Florian Pose 2007-09-12 13:20:29 +00:00
parent 08c67e8f2e
commit af076a36bc
1 changed files with 44 additions and 6 deletions
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50
master/fsm_master.c
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@ -56,6 +56,7 @@ void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *);
void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
@ -280,13 +281,13 @@ void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machin
list_add_tail(&slave->list, &master->slaves);
}
EC_INFO("Scanning bus.\n");
if (master->debug_level)
EC_DBG("Clearing station addresses...\n");
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->state = ec_fsm_master_state_scan_slaves;
ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
ec_datagram_bwr(datagram, 0x0010, 2);
EC_WRITE_U16(datagram->data, 0x0000);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_clear_addresses;
return;
}
}
@ -801,6 +802,43 @@ void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
/*****************************************************************************/
/**
* Master state: CLEAR ADDRESSES.
*/
void ec_fsm_master_state_clear_addresses(
ec_fsm_master_t *fsm /**< master state machine */
)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_ERR("Failed to receive address clearing datagram (state %i).\n",
datagram->state);
fsm->state = ec_fsm_master_state_error;
return;
}
if (datagram->working_counter != master->slave_count) {
EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
datagram->working_counter, master->slave_count);
}
EC_INFO("Scanning bus.\n");
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->state = ec_fsm_master_state_scan_slaves;
ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
}
/*****************************************************************************/
/**
* Master state: SCAN SLAVES.
* Executes the sub-statemachine for the scanning of a slave.