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ethercat
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Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed 

slave->online to ec_online_state and introduced
ec_slave_set_app_state().
This commit is contained in:
Florian Pose 2007-03-05 09:55:39 +00:00
parent 62e1adca17
commit b0285d88a9
5 changed files with 81 additions and 45 deletions
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6
master/ethernet.c
View File

@ -317,7 +317,8 @@ int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */)
void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)
{
if (!eoe->slave->online || !eoe->slave->master->main_device.link_state)
if (eoe->slave->online_state == EC_SLAVE_OFFLINE ||
!eoe->slave->master->main_device.link_state)
return;
ec_slave_mbox_prepare_check(eoe->slave, &eoe->datagram);
@ -518,7 +519,8 @@ void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE handler */)
unsigned int wakeup = 0;
#endif
if (!eoe->slave->online || !eoe->slave->master->main_device.link_state)
if (eoe->slave->online_state == EC_SLAVE_OFFLINE ||
!eoe->slave->master->main_device.link_state)
return;
spin_lock_bh(&eoe->tx_queue_lock);

46
master/fsm_master.c
View File

@ -185,7 +185,7 @@ void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machin
// link is down
fsm->slaves_responding = 0;
list_for_each_entry(slave, &master->slaves, list) {
slave->online = 0;
ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
}
fsm->state = ec_fsm_master_state_error;
return;
@ -302,7 +302,7 @@ int ec_fsm_master_action_process_eeprom(
up(&master->eeprom_sem);
slave = request->slave;
if (!slave->online || slave->error_flag) {
if (slave->online_state == EC_SLAVE_OFFLINE || slave->error_flag) {
EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
slave->ring_position);
request->state = EC_EEPROM_REQ_ERROR;
@ -344,7 +344,7 @@ void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
// check if any slaves are not in the state, they're supposed to be
list_for_each_entry(slave, &master->slaves, list) {
if (slave->error_flag
|| !slave->online
|| slave->online_state == EC_SLAVE_OFFLINE
|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
|| (slave->current_state == slave->requested_state
&& slave->self_configured)) continue;
@ -380,7 +380,7 @@ void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
EC_DBG("Processing SDO request...\n");
slave = master->sdo_request->sdo->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT
|| !slave->online) {
|| slave->online_state == EC_SLAVE_OFFLINE) {
EC_ERR("Failed to process SDO request, slave %i not ready.\n",
slave->ring_position);
master->sdo_request->return_code = -1;
@ -403,7 +403,7 @@ void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
|| !slave->online
|| slave->online_state == EC_SLAVE_OFFLINE
|| slave->error_flag) continue;
if (master->debug_level) {
@ -459,7 +459,7 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
if (fsm->validate) {
fsm->validate = 0;
list_for_each_entry(slave, &master->slaves, list) {
if (slave->online) continue;
if (slave->online_state == EC_SLAVE_ONLINE) continue;
// At least one slave is offline. validate!
EC_INFO("Validating bus.\n");
@ -485,7 +485,6 @@ void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state mach
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
uint8_t new_state;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
ec_master_queue_datagram(fsm->master, fsm->datagram);
@ -501,39 +500,14 @@ void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state mach
// did the slave not respond to its station address?
if (datagram->working_counter != 1) {
if (slave->online) {
slave->online = 0;
if (slave->master->debug_level)
EC_DBG("Slave %i: offline.\n", slave->ring_position);
}
ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
ec_fsm_master_action_next_slave_state(fsm);
return;
}
// slave responded
new_state = EC_READ_U8(datagram->data);
if (!slave->online) { // slave was offline before
slave->online = 1;
slave->error_flag = 0; // clear error flag
slave->current_state = new_state;
if (slave->master->debug_level) {
char cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, cur_state);
EC_DBG("Slave %i: online (%s).\n",
slave->ring_position, cur_state);
}
}
else if (new_state != slave->current_state) {
if (slave->master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state);
ec_state_string(new_state, cur_state);
EC_DBG("Slave %i: %s -> %s.\n",
slave->ring_position, old_state, cur_state);
}
slave->current_state = new_state;
}
ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
ec_slave_set_online_state(slave, EC_SLAVE_ONLINE);
// check, if new slave state has to be acknowledged
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
@ -614,7 +588,7 @@ void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machi
{
ec_datagram_t *datagram = fsm->datagram;
while (fsm->slave->online) {
while (fsm->slave->online_state == EC_SLAVE_ONLINE) {
if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fsm->state = ec_fsm_master_state_start;
fsm->state(fsm); // execute immediately

2
master/master.c
View File

@ -528,7 +528,7 @@ void ec_master_leave_operation_mode(ec_master_t *master
// don't try to set PREOP for slaves that don't respond,
// because of 3 second timeout.
if (!slave->online) {
if (slave->online_state == EC_SLAVE_OFFLINE) {
if (master->debug_level)
EC_DBG("Skipping to configure offline slave %i.\n",
slave->ring_position);

58
master/slave.c
View File

@ -116,7 +116,7 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
slave->self_configured = 0;
slave->error_flag = 0;
slave->online = 1;
slave->online_state = EC_SLAVE_ONLINE;
slave->fmmu_count = 0;
slave->coupler_index = 0;
@ -328,6 +328,58 @@ void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
/*****************************************************************************/
/**
* Sets the application state of a slave.
*/
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_state_t new_state /**< new application state */
)
{
if (new_state != slave->current_state) {
if (slave->master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state);
ec_state_string(new_state, cur_state);
EC_DBG("Slave %i: %s -> %s.\n",
slave->ring_position, old_state, cur_state);
}
slave->current_state = new_state;
}
}
/*****************************************************************************/
/**
* Sets the online state of a slave.
*/
void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_online_state_t new_state /**< new online state */
)
{
if (new_state == EC_SLAVE_OFFLINE &&
slave->online_state == EC_SLAVE_ONLINE) {
if (slave->master->debug_level)
EC_DBG("Slave %i: offline.\n", slave->ring_position);
}
else if (new_state == EC_SLAVE_ONLINE &&
slave->online_state == EC_SLAVE_OFFLINE) {
slave->error_flag = 0; // clear error flag
if (slave->master->debug_level) {
char cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, cur_state);
EC_DBG("Slave %i: online (%s).\n",
slave->ring_position, cur_state);
}
}
slave->online_state = new_state;
}
/*****************************************************************************/
/**
*/
@ -636,8 +688,8 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
off += sprintf(buffer + off, " (");
off += ec_state_string(slave->requested_state, buffer + off);
off += sprintf(buffer + off, ")\nFlags: %s, %s\n",
slave->online ? "online" : "OFFLINE",
slave->error_flag ? "ERROR" : "ok");
slave->online_state == EC_SLAVE_ONLINE ? "online" : "OFFLINE",
slave->error_flag ? "ERROR" : "ok");
off += sprintf(buffer + off, "Ring position: %i\n",
slave->ring_position);
off += sprintf(buffer + off, "Advanced position: %i:%i\n",

14
master/slave.h
View File

@ -72,6 +72,12 @@ typedef enum
}
ec_slave_state_t;
typedef enum {
EC_SLAVE_OFFLINE,
EC_SLAVE_ONLINE
}
ec_slave_online_state_t;
/*****************************************************************************/
/**
@ -195,11 +201,11 @@ struct ec_slave
struct kobject kobj; /**< kobject */
ec_master_t *master; /**< master owning the slave */
ec_slave_state_t requested_state; /**< requested slave state */
ec_slave_state_t current_state; /**< current slave state */
ec_slave_state_t requested_state; /**< requested application state */
ec_slave_state_t current_state; /**< current application 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. */
unsigned int online_state; /**< online state */
// addresses
uint16_t ring_position; /**< ring position */
@ -266,6 +272,8 @@ int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,
const ec_sii_sync_t *);
void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t);
// SII categories
int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);