Retry reading Pdo assignment.
--- a/master/fsm_coe_map.c Wed Jun 18 14:37:00 2008 +0000
+++ b/master/fsm_coe_map.c Wed Jun 18 14:37:20 2008 +0000
@@ -183,6 +183,7 @@
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
ecrt_sdo_request_read(&fsm->request);
+ fsm->retries = 5;
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -209,6 +210,15 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ if (fsm->retries--) {
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Failed to read number of assigned Pdos from "
+ "slave %u. Retrying...\n", fsm->slave->ring_position);
+ ecrt_sdo_request_read(&fsm->request);
+ ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ return;
+ }
EC_ERR("Failed to read number of assigned Pdos from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
--- a/master/fsm_coe_map.h Wed Jun 18 14:37:00 2008 +0000
+++ b/master/fsm_coe_map.h Wed Jun 18 14:37:20 2008 +0000
@@ -72,6 +72,8 @@
ec_sdo_t *pdo_sdo; /**< Current Pdo Sdo. */
uint8_t pdo_subindices; /**< Number of Pdo entries. */
uint16_t pdo_subindex; /**< Current subindex in Pdo Sdo. */
+
+ unsigned int retries; /**< Retry count. */
};
/*****************************************************************************/