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ethercat
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Reset master state machine when going to orphaned phase.

This commit is contained in:
Florian Pose 2012-12-04 11:57:55 +01:00
parent 879a17fa56
commit e59b790583
3 changed files with 34 additions and 14 deletions
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44
master/fsm_master.c
View File

@ -79,20 +79,10 @@ void ec_fsm_master_init(
ec_datagram_t *datagram /**< Datagram object to use. */
)
{
ec_device_index_t dev_idx;
fsm->master = master;
fsm->datagram = datagram;
fsm->state = ec_fsm_master_state_start;
fsm->idle = 0;
fsm->dev_idx = EC_DEVICE_MAIN;
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
fsm->link_state[dev_idx] = 0;
fsm->slaves_responding[dev_idx] = 0;
fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;
}
fsm->rescan_required = 0;
ec_fsm_master_reset(fsm);
// init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
@ -124,6 +114,30 @@ void ec_fsm_master_clear(
/*****************************************************************************/
/** Reset state machine.
*/
void ec_fsm_master_reset(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_device_index_t dev_idx;
fsm->state = ec_fsm_master_state_start;
fsm->idle = 0;
fsm->dev_idx = EC_DEVICE_MAIN;
for (dev_idx = EC_DEVICE_MAIN;
dev_idx < ec_master_num_devices(fsm->master); dev_idx++) {
fsm->link_state[dev_idx] = 0;
fsm->slaves_responding[dev_idx] = 0;
fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;
}
fsm->rescan_required = 0;
}
/*****************************************************************************/
/** Executes the current state of the state machine.
*
* If the state machine's datagram is not sent or received yet, the execution
@ -611,8 +625,9 @@ void ec_fsm_master_state_read_state(
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: ");
@ -747,8 +762,9 @@ void ec_fsm_master_state_dc_measure_delays(
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_MASTER_ERR(master, "Failed to receive delay measuring datagram"

2
master/fsm_master.h
View File

@ -132,6 +132,8 @@ struct ec_fsm_master {
void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
void ec_fsm_master_clear(ec_fsm_master_t *);
void ec_fsm_master_reset(ec_fsm_master_t *);
int ec_fsm_master_exec(ec_fsm_master_t *);
int ec_fsm_master_idle(const ec_fsm_master_t *);

2
master/master.c
View File

@ -625,6 +625,8 @@ void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
down(&master->master_sem);
ec_master_clear_slaves(master);
up(&master->master_sem);
ec_fsm_master_reset(&master->fsm);
}
/*****************************************************************************/