Clear DC assignment after going to INIT.
--- a/documentation/ethercat_doc.tex Mon Apr 20 10:28:09 2009 +0000
+++ b/documentation/ethercat_doc.tex Mon Apr 20 11:53:17 2009 +0000
@@ -1557,7 +1557,7 @@
\begin{figure}[htbp]
\centering
- \includegraphics[height=.9\textheight]{graphs/fsm_slave_conf}
+ \includegraphics[height=\textheight]{graphs/fsm_slave_conf}
\caption{Transition diagram of the slave configuration state
machine}
\label{fig:fsm-slaveconf}
--- a/documentation/graphs/fsm_slave_conf.dot Mon Apr 20 10:28:09 2009 +0000
+++ b/documentation/graphs/fsm_slave_conf.dot Mon Apr 20 11:53:17 2009 +0000
@@ -11,9 +11,9 @@
enter_init -> init [weight=10]
reconfigure [shape=point, label=""]
- reconfigure -> init [fontname="Helvetica", label="Config\ndetached"]
+ reconfigure -> enter_init [fontname="Helvetica", label="Config\ndetached"]
- init [fontname="Helvetica"]
+ init [fontname="Helvetica", style="bold"]
init -> enter_clear_sync [fontname="Helvetica", label="No FMMUs"]
init -> clear_fmmus [weight=10]
@@ -21,11 +21,18 @@
clear_fmmus -> enter_clear_sync [weight=10]
enter_clear_sync [shape=point, label=""]
- enter_clear_sync -> enter_mbox_sync [fontname="Helvetica", label="No SMs"]
+ enter_clear_sync -> enter_clear_dc_assign [fontname="Helvetica", label="No SMs"]
enter_clear_sync -> clear_sync [weight=10]
clear_sync [fontname="Helvetica"]
- clear_sync -> enter_mbox_sync [weight=10]
+ clear_sync -> enter_clear_dc_assign [weight=10]
+
+ enter_clear_dc_assign [shape=point, label=""]
+ enter_clear_dc_assign -> enter_mbox_sync [fontname="Helvetica", label="No DC\nsupport"]
+ enter_clear_dc_assign -> clear_dc_assign [weight=10]
+
+ clear_dc_assign [fontname="Helvetica"]
+ clear_dc_assign -> enter_mbox_sync [weight=10]
enter_mbox_sync [shape=point, label=""]
enter_mbox_sync -> end [fontname="Helvetica", label="INIT\nrequested"]
@@ -38,7 +45,7 @@
enter_boot_preop [shape=point, label=""]
enter_boot_preop -> boot_preop [weight=10]
- boot_preop [fontname="Helvetica"]
+ boot_preop [fontname="Helvetica", style="bold"]
boot_preop -> end [fontname="Helvetica", label="PREOP\nor BOOT\nrequested"]
boot_preop -> enter_safeop [fontname="Helvetica", label="No slave\nconfig attached"]
boot_preop -> enter_sdo_conf [weight=10]
@@ -96,12 +103,12 @@
enter_safeop [shape=point,label=""]
enter_safeop -> safeop [weight=10]
- safeop [fontname="Helvetica"]
+ safeop [fontname="Helvetica", style="bold"]
safeop -> end [fontname="Helvetica", label="SAFEOP\nrequested"]
safeop -> op [weight=10]
- op [fontname="Helvetica"]
- op -> end// [weight=10]
+ op [fontname="Helvetica", style="bold"]
+ op -> end
end [fontname="Helvetica"]
}
--- a/master/fsm_slave_config.c Mon Apr 20 10:28:09 2009 +0000
+++ b/master/fsm_slave_config.c Mon Apr 20 11:53:17 2009 +0000
@@ -46,6 +46,7 @@
void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_clear_dc_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
@@ -62,6 +63,7 @@
void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_clear_dc_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
@@ -286,7 +288,7 @@
if (!slave->sii.sync_count) { // FIXME use base_sync_count?
// no sync managers
- ec_fsm_slave_config_enter_mbox_sync(fsm);
+ ec_fsm_slave_config_enter_clear_dc_assign(fsm);
return;
}
@@ -332,6 +334,64 @@
return;
}
+ ec_fsm_slave_config_enter_clear_dc_assign(fsm);
+}
+
+/*****************************************************************************/
+
+/** Clear the DC assignment.
+ */
+void ec_fsm_slave_config_enter_clear_dc_assign(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (!slave->base_dc_supported) {
+ ec_fsm_slave_config_enter_mbox_sync(fsm);
+ return;
+ }
+
+ if (slave->master->debug_level)
+ EC_DBG("Clearing DC assignment of slave %u...\n",
+ slave->ring_position);
+
+ ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
+ ec_datagram_zero(datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_clear_dc_assign;
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: CLEAR DC ASSIGN.
+ */
+void ec_fsm_slave_config_state_clear_dc_assign(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed receive DC assignment clearing datagram"
+ " for slave %u.\n", fsm->slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to clear DC assignment of slave %u: ",
+ fsm->slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
ec_fsm_slave_config_enter_mbox_sync(fsm);
}