# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1141126589 0
# Node ID fa8e9f520589c2973c704a45d683133039cc80f9
# Parent  021e9da11286b3f31ea3a09bab9abd04a5a6bf8c
Zyklische Ausgaben um "Verz?gerte" Rahmen erweitert.

diff -r 021e9da11286 -r fa8e9f520589 master/domain.c
--- a/master/domain.c	Tue Feb 28 11:35:32 2006 +0000
+++ b/master/domain.c	Tue Feb 28 11:36:29 2006 +0000
@@ -279,7 +279,7 @@
     frame = &domain->frame;
     working_counter_sum = 0;
 
-    ec_output_lost_frames(master); // Evtl. verlorene Frames ausgeben
+    ec_cyclic_output(master);
 
     rdtscl(start_ticks); // Sendezeit nehmen
     timeout_ticks = domain->timeout_us * cpu_khz / 1000;
@@ -309,10 +309,16 @@
         master->bus_time = (end_ticks - start_ticks) * 1000 / cpu_khz;
 
         if (unlikely(end_ticks - start_ticks >= timeout_ticks)) {
-            master->device.state = EC_DEVICE_STATE_READY;
-            master->frames_lost++;
-            ec_output_lost_frames(master);
-            return -1;
+            if (master->device.state == EC_DEVICE_STATE_RECEIVED) {
+                master->frames_delayed++;
+                ec_cyclic_output(master);
+            }
+            else {
+                master->device.state = EC_DEVICE_STATE_READY;
+                master->frames_lost++;
+                ec_cyclic_output(master);
+                return -1;
+            }
         }
 
         if (unlikely(ec_frame_receive(frame) < 0)) {
diff -r 021e9da11286 -r fa8e9f520589 master/master.c
--- a/master/master.c	Tue Feb 28 11:35:32 2006 +0000
+++ b/master/master.c	Tue Feb 28 11:36:29 2006 +0000
@@ -39,7 +39,8 @@
     master->debug_level = 0;
     master->bus_time = 0;
     master->frames_lost = 0;
-    master->t_lost_output = 0;
+    master->frames_delayed = 0;
+    master->t_last_cyclic_output = 0;
 }
 
 /*****************************************************************************/
@@ -84,7 +85,8 @@
     master->debug_level = 0;
     master->bus_time = 0;
     master->frames_lost = 0;
-    master->t_lost_output = 0;
+    master->frames_delayed = 0;
+    master->t_last_cyclic_output = 0;
 }
 
 /*****************************************************************************/
@@ -237,22 +239,30 @@
 /*****************************************************************************/
 
 /**
-   Gibt die Anzahl verlorener Frames aus.
+   Ausgaben während des zyklischen Betriebs.
+
+   Diese Funktion sorgt dafür, dass Ausgaben (Zählerstände) während
+   des zyklischen Betriebs nicht zu oft getätigt werden.
 
    Die Ausgabe erfolgt gesammelt höchstens einmal pro Sekunde.
 */
 
-void ec_output_lost_frames(ec_master_t *master /**< EtherCAT-Master */)
+void ec_cyclic_output(ec_master_t *master /**< EtherCAT-Master */)
 {
     unsigned long int t;
 
-    if (master->frames_lost) {
-        rdtscl(t);
-        if ((t - master->t_lost_output) / cpu_khz > 1000) {
+    rdtscl(t);
+
+    if ((t - master->t_last_cyclic_output) / cpu_khz > 1000) {
+        if (master->frames_lost) {
             EC_WARN("%u frame(s) LOST!\n", master->frames_lost);
             master->frames_lost = 0;
-            master->t_lost_output = t;
-        }
+        }
+        if (master->frames_delayed) {
+            EC_WARN("%u frame(s) DELAYED!\n", master->frames_delayed);
+            master->frames_delayed = 0;
+        }
+        master->t_last_cyclic_output = t;
     }
 }
 
diff -r 021e9da11286 -r fa8e9f520589 master/master.h
--- a/master/master.h	Tue Feb 28 11:35:32 2006 +0000
+++ b/master/master.h	Tue Feb 28 11:36:29 2006 +0000
@@ -36,9 +36,10 @@
     unsigned int domain_count; /**< Anzahl Domänen */
     int debug_level; /**< Debug-Level im Master-Code */
     unsigned int bus_time; /**< Letzte Bus-Zeit in Mikrosekunden */
-    unsigned int frames_lost; /**< Anzahl verlorene Frames */
-    unsigned long t_lost_output; /**< Timer-Ticks bei der letzten Ausgabe von
-                                   verlorenen Frames */
+    unsigned int frames_lost; /**< Anzahl verlorener Frames */
+    unsigned int frames_delayed; /**< Anzahl verzögerter Frames */
+    unsigned long t_last_cyclic_output; /**< Timer-Ticks bei den letzten
+                                           zyklischen Ausgaben */
 };
 
 /*****************************************************************************/
@@ -59,7 +60,7 @@
 
 // Misc
 void ec_output_debug_data(const ec_master_t *);
-void ec_output_lost_frames(ec_master_t *);
+void ec_cyclic_output(ec_master_t *);
 
 /*****************************************************************************/