Configure PDO sync managers even if no configuration has been applied.
--- a/documentation/graphs/fsm_slave_conf.dot Mon Jul 06 09:06:31 2009 +0000
+++ b/documentation/graphs/fsm_slave_conf.dot Thu Jul 09 12:54:49 2009 +0000
@@ -55,10 +55,10 @@
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 @@
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]
--- a/master/fsm_slave_config.c Mon Jul 06 09:06:31 2009 +0000
+++ b/master/fsm_slave_config.c Thu Jul 09 12:54:49 2009 +0000
@@ -735,27 +735,25 @@
return;
}
+ ec_fsm_slave_config_enter_sdo_conf(fsm);
+}
+
+/*****************************************************************************/
+
+/** Check for SDO configurations to be applied.
+ */
+void ec_fsm_slave_config_enter_sdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+
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);
-}
-
-/*****************************************************************************/
-
-/** Check for SDO configurations to be applied.
- */
-void ec_fsm_slave_config_enter_sdo_conf(
- ec_fsm_slave_config_t *fsm /**< slave state machine */
- )
-{
- ec_slave_t *slave = fsm->slave;
+ 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 @@
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 @@
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 @@
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;
}