equal
deleted
inserted
replaced
282 { |
282 { |
283 ec_slave_t *slave = fsm->slave; |
283 ec_slave_t *slave = fsm->slave; |
284 ec_datagram_t *datagram = fsm->datagram; |
284 ec_datagram_t *datagram = fsm->datagram; |
285 size_t sync_size; |
285 size_t sync_size; |
286 |
286 |
287 if (!slave->sii.sync_count) { |
287 if (!slave->sii.sync_count) { // FIXME use base_sync_count? |
288 // no mailbox protocols supported |
288 // no sync managers |
289 ec_fsm_slave_config_enter_mbox_sync(fsm); |
289 ec_fsm_slave_config_enter_mbox_sync(fsm); |
290 return; |
290 return; |
291 } |
291 } |
292 |
292 |
293 if (slave->master->debug_level) |
293 if (slave->master->debug_level) |
568 slave->error_flag = 1; |
568 slave->error_flag = 1; |
569 fsm->state = ec_fsm_slave_config_state_error; |
569 fsm->state = ec_fsm_slave_config_state_error; |
570 return; |
570 return; |
571 } |
571 } |
572 |
572 |
573 // slave is now in BOOT/PREOP |
573 // slave is now in BOOT or PREOP |
574 slave->jiffies_preop = fsm->datagram->jiffies_received; |
574 slave->jiffies_preop = fsm->datagram->jiffies_received; |
575 |
575 |
576 if (master->debug_level) { |
576 if (master->debug_level) { |
577 EC_DBG("Slave %u is now in %s.\n", slave->ring_position, |
577 EC_DBG("Slave %u is now in %s.\n", slave->ring_position, |
578 slave->requested_state != EC_SLAVE_STATE_BOOT |
578 slave->requested_state != EC_SLAVE_STATE_BOOT |
978 EC_WRITE_U32(datagram->data, config->dc_sync_cycle_times[0]); |
978 EC_WRITE_U32(datagram->data, config->dc_sync_cycle_times[0]); |
979 EC_WRITE_U32(datagram->data + 4, config->dc_sync_cycle_times[1]); |
979 EC_WRITE_U32(datagram->data + 4, config->dc_sync_cycle_times[1]); |
980 fsm->retries = EC_FSM_RETRIES; |
980 fsm->retries = EC_FSM_RETRIES; |
981 fsm->state = ec_fsm_slave_config_state_dc_cycle; |
981 fsm->state = ec_fsm_slave_config_state_dc_cycle; |
982 } else { |
982 } else { |
|
983 // DC are unused |
983 ec_fsm_slave_config_enter_safeop(fsm); |
984 ec_fsm_slave_config_enter_safeop(fsm); |
984 } |
985 } |
985 } |
986 } |
986 |
987 |
987 /*****************************************************************************/ |
988 /*****************************************************************************/ |