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Configure PDO sync managers even if no configuration has been applied.

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This commit is contained in:
Florian Pose
2009-07-09 12:54:49 +00:00
parent 49cbc5e6ad
commit 18d3eb982e
2 changed files with 23 additions and 16 deletions
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4
documentation/graphs/fsm_slave_conf.dot
View File

@@ -55,10 +55,10 @@ digraph slaveconf {
boot_preop [style="bold"]
boot_preop -> end [label="PREOP\nor BOOT\nrequested"]
boot_preop -> enter_safeop [label="No slave\nconfig attached"]
boot_preop -> enter_sdo_conf [weight=10]
enter_sdo_conf [shape=point, label=""]
enter_sdo_conf -> enter_pdo_sync [label="No config\nattached"]
enter_sdo_conf -> enter_pdo_conf [label="No SDOs\nconfigured"]
enter_sdo_conf -> sdo_conf [weight=10]
@@ -81,7 +81,7 @@ digraph slaveconf {
pdo_sync -> enter_fmmu [weight=10]
enter_fmmu [shape=point,label=""]
enter_fmmu -> reconfigure
enter_fmmu -> enter_safeop [label="No config\nattached"]
enter_fmmu -> enter_dc_cycle [label="No FMMUs\nconfigured"]
enter_fmmu -> fmmu [weight=10]

35
master/fsm_slave_config.c
View File

@@ -735,12 +735,6 @@ void ec_fsm_slave_config_state_boot_preop(
return;
}
if (!slave->config) {
EC_WARN("Slave %u is not configured.\n", slave->ring_position);
ec_fsm_slave_config_enter_safeop(fsm);
return;
}
ec_fsm_slave_config_enter_sdo_conf(fsm);
}
@@ -754,8 +748,12 @@ void ec_fsm_slave_config_enter_sdo_conf(
{
ec_slave_t *slave = fsm->slave;
if (!slave->config) {
ec_fsm_slave_config_enter_pdo_sync(fsm);
return;
}
// No CoE configuration to be applied?
// FIXME check for config
if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
ec_fsm_slave_config_enter_pdo_conf(fsm);
return;
@@ -862,8 +860,8 @@ void ec_fsm_slave_config_enter_pdo_sync(
unsigned int i, offset, num_pdo_syncs;
uint8_t sync_index;
const ec_sync_t *sync;
const ec_sync_config_t *sync_config;
uint16_t size;
ec_direction_t dir;
if (slave->sii.mailbox_protocols) {
offset = 2; // slave has mailboxes
@@ -888,10 +886,19 @@ void ec_fsm_slave_config_enter_pdo_sync(
for (i = 0; i < num_pdo_syncs; i++) {
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
sync_config = &slave->config->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
ec_sync_page(sync, sync_index, size, sync_config->dir,
datagram->data + EC_SYNC_PAGE_SIZE * i);
if (slave->config) {
const ec_sync_config_t *sync_config;
sync_config = &slave->config->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
dir = sync_config->dir;
} else {
size = sync->default_length;
dir = EC_DIR_INVALID;
}
ec_sync_page(sync, sync_index, size, dir, datagram->data +
EC_SYNC_PAGE_SIZE * i);
}
fsm->retries = EC_FSM_RETRIES;
@@ -946,8 +953,8 @@ void ec_fsm_slave_config_enter_fmmu(
const ec_fmmu_config_t *fmmu;
const ec_sync_t *sync;
if (!slave->config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
if (!slave->config) {
ec_fsm_slave_config_enter_safeop(fsm);
return;
}