master/fsm_coe_map.c
changeset 1034 36cd81362f10
parent 1033 b98259cc7d40
child 1035 7fafc1a7451e
equal deleted inserted replaced
1033:b98259cc7d40 1034:36cd81362f10
    42 #include "master.h"
    42 #include "master.h"
    43 #include "mailbox.h"
    43 #include "mailbox.h"
    44 #include "sdo_request.h"
    44 #include "sdo_request.h"
    45 #include "fsm_coe_map.h"
    45 #include "fsm_coe_map.h"
    46 
    46 
       
    47 /** Retry reading the number of assigned Pdos if this time is not elapsed.
       
    48  */
       
    49 #define EC_FSM_COE_MAP_TIMEOUT 5
       
    50 
    47 /*****************************************************************************/
    51 /*****************************************************************************/
    48 
    52 
    49 void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
    53 void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
    50 void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
    54 void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
    51 void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
    55 void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
   181 
   185 
   182         ec_pdo_list_clear_pdos(&fsm->pdos);
   186         ec_pdo_list_clear_pdos(&fsm->pdos);
   183 
   187 
   184         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
   188         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
   185         ecrt_sdo_request_read(&fsm->request);
   189         ecrt_sdo_request_read(&fsm->request);
   186         fsm->retries = 5;
   190         fsm->jiffies_start = jiffies;
   187         fsm->state = ec_fsm_coe_map_state_pdo_count;
   191         fsm->state = ec_fsm_coe_map_state_pdo_count;
   188         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
   192         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
   189         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
   193         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
   190         return;
   194         return;
   191     }
   195     }
   208         )
   212         )
   209 {
   213 {
   210     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
   214     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
   211 
   215 
   212     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
   216     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
   213         if (fsm->retries--) {
   217         if (jiffies - fsm->jiffies_start < HZ * EC_FSM_COE_MAP_TIMEOUT) {
   214             if (fsm->slave->master->debug_level)
   218             if (fsm->slave->master->debug_level)
   215                 EC_DBG("Failed to read number of assigned Pdos from "
   219                 EC_DBG("Failed to read number of assigned Pdos from "
   216                         "slave %u. Retrying...\n", fsm->slave->ring_position);
   220                         "slave %u. Retrying...\n", fsm->slave->ring_position);
   217             ecrt_sdo_request_read(&fsm->request);
   221             ecrt_sdo_request_read(&fsm->request);
   218             ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
   222             ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);