bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Guess sync manager settings if mailbox information available.

This commit is contained in:
Florian Pose 2006-10-20 10:05:52 +00:00
parent e33b75b2b5
commit ce9cf72367
1 changed files with 34 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
master/fsm.c
View File

@ -1387,6 +1387,7 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
const ec_sii_sync_t *sync;
ec_sii_sync_t mbox_sync;
fsm->change_state(fsm); // execute state change state machine
@ -1434,15 +1435,40 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
EC_SYNC_SIZE * slave->base_sync_count);
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
list_for_each_entry(sync, &slave->sii_syncs, list) {
if (sync->index >= slave->base_sync_count) {
EC_ERR("Invalid sync manager configuration found!");
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
if (list_empty(&slave->sii_syncs)) {
if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
if (slave->master->debug_level)
EC_DBG("Guessing sync manager settings for slave %i.\n",
slave->ring_position);
mbox_sync.index = 0;
mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 0x01;
mbox_sync.est_length = 0;
ec_sync_config(&mbox_sync, slave,
datagram->data + EC_SYNC_SIZE * mbox_sync.index);
mbox_sync.index = 1;
mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 0x01;
mbox_sync.est_length = 0;
ec_sync_config(&mbox_sync, slave,
datagram->data + EC_SYNC_SIZE * mbox_sync.index);
}
}
else {
list_for_each_entry(sync, &slave->sii_syncs, list) {
if (sync->index >= slave->base_sync_count) {
EC_ERR("Invalid sync manager configuration found!");
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
ec_sync_config(sync, slave,
datagram->data + EC_SYNC_SIZE * sync->index);
}
ec_sync_config(sync, slave,
datagram->data + EC_SYNC_SIZE * sync->index);
}
ec_master_queue_datagram(fsm->master, datagram);