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ethercat
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Introduced frames_timed_out flag to notice bus failure when link down is 

not detected.
This commit is contained in:
Florian Pose 2007-05-03 14:29:21 +00:00
parent f5d3ec538a
commit c9c595f94e
2 changed files with 9 additions and 1 deletions
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8
master/master.c
View File

@ -453,6 +453,7 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
master->mode = EC_MASTER_MODE_OPERATION;
master->pdo_slaves_offline = 0; // assume all PDO slaves online
master->frames_timed_out = 0;
master->ext_request_cb = NULL;
master->ext_release_cb = NULL;
master->ext_cb_data = NULL;
@ -1485,6 +1486,7 @@ void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *next;
cycles_t cycles_timeout;
unsigned int frames_timed_out = 0;
// receive datagrams
ec_device_poll(&master->main_device);
@ -1497,12 +1499,15 @@ void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
if (master->main_device.cycles_poll - datagram->cycles_sent
> cycles_timeout) {
frames_timed_out = 1;
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_TIMED_OUT;
master->stats.timeouts++;
ec_master_output_stats(master);
}
}
master->frames_timed_out = frames_timed_out;
}
/*****************************************************************************/
@ -1563,7 +1568,8 @@ void ecrt_master_get_status(const ec_master_t *master, /**< EtherCAT master */
)
{
status->bus_status =
master->pdo_slaves_offline ? EC_BUS_FAILURE : EC_BUS_OK;
(master->pdo_slaves_offline || master->frames_timed_out)
? EC_BUS_FAILURE : EC_BUS_OK;
status->bus_tainted = master->fsm.tainted;
status->slaves_responding = master->fsm.slaves_responding;
}

2
master/master.h
View File

@ -137,6 +137,8 @@ struct ec_master
unsigned int pdo_slaves_offline; /** number of slaves, for which PDOs
were registered and that are offline
(used for bus status) */
unsigned int frames_timed_out; /**< there were frame timeouts in the last
call to ecrt_master_receive() */
int thread_id; /**< master thread PID */
struct completion thread_exit; /**< thread completion object */