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ethercat
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Clear sync managers before configuration.

This commit is contained in:
Florian Pose 2009-01-26 16:01:13 +00:00
parent ae9d759622
commit fa17bbb5a8
1 changed files with 62 additions and 1 deletions
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63
master/fsm_slave_config.c
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@ -42,6 +42,7 @@
void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
@ -52,6 +53,7 @@ void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
@ -213,7 +215,7 @@ void ec_fsm_slave_config_state_init(
}
if (!slave->base_fmmu_count) { // skip FMMU configuration
ec_fsm_slave_config_enter_mbox_sync(fsm);
ec_fsm_slave_config_enter_clear_sync(fsm);
return;
}
@ -258,6 +260,65 @@ void ec_fsm_slave_config_state_clear_fmmus(
return;
}
ec_fsm_slave_config_enter_clear_sync(fsm);
}
/*****************************************************************************/
/** Clear the sync manager configurations.
*/
void ec_fsm_slave_config_enter_clear_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
size_t sync_size;
if (!slave->sii.sync_count) {
// no mailbox protocols supported
ec_fsm_slave_config_enter_mbox_sync(fsm);
return;
}
sync_size = EC_SYNC_PAGE_SIZE * slave->sii.sync_count;
// clear sync manager configurations
ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
memset(datagram->data, 0x00, sync_size);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_clear_sync;
}
/*****************************************************************************/
/** Slave configuration state: CLEAR SYNC.
*/
void ec_fsm_slave_config_state_clear_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed receive sync manager clearing datagram"
" for slave %u.\n", fsm->slave->ring_position);
return;
}
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to clear sync manager configurations of slave %u: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_mbox_sync(fsm);
}