Removed slave online flag.
--- a/master/ethernet.c Fri Apr 25 12:23:52 2008 +0000
+++ b/master/ethernet.c Fri Apr 25 12:45:44 2008 +0000
@@ -358,8 +358,7 @@
void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)
{
- if (eoe->slave->online_state == EC_SLAVE_OFFLINE ||
- !eoe->slave->master->main_device.link_state)
+ if (eoe->slave->error_flag || !eoe->slave->master->main_device.link_state)
return;
ec_slave_mbox_prepare_check(eoe->slave, &eoe->datagram);
@@ -559,8 +558,7 @@
unsigned int wakeup = 0;
#endif
- if (eoe->slave->online_state == EC_SLAVE_OFFLINE ||
- !eoe->slave->master->main_device.link_state)
+ if (eoe->slave->error_flag || !eoe->slave->master->main_device.link_state)
return;
spin_lock_bh(&eoe->tx_queue_lock);
--- a/master/fsm_master.c Fri Apr 25 12:23:52 2008 +0000
+++ b/master/fsm_master.c Fri Apr 25 12:45:44 2008 +0000
@@ -190,23 +190,16 @@
if (datagram->state == EC_DATAGRAM_TIMED_OUT)
return; // always retry
- if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
- fsm->slaves_responding = 0;
- list_for_each_entry(slave, &master->slaves, list) {
- ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
- }
- fsm->state = ec_fsm_master_state_error;
- return;
- }
-
// bus topology change?
if (datagram->working_counter != fsm->slaves_responding) {
fsm->topology_change_pending = 1;
fsm->slaves_responding = datagram->working_counter;
-
- EC_INFO("%u slave%s responding.\n",
- fsm->slaves_responding,
- fsm->slaves_responding == 1 ? "" : "s");
+ EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
+ fsm->state = ec_fsm_master_state_error;
+ return;
}
// slave states changed?
@@ -304,7 +297,6 @@
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request;
- ec_slave_t *slave;
// search the first request to be processed
while (1) {
@@ -320,19 +312,10 @@
request->state = EC_REQUEST_BUSY;
up(&master->sii_sem);
- slave = request->slave;
- if (slave->online_state == EC_SLAVE_OFFLINE) {
- EC_ERR("Discarding SII data, slave %i offline.\n",
- slave->ring_position);
- request->state = EC_REQUEST_FAILURE;
- wake_up(&master->sii_queue);
- continue;
- }
-
// found pending SII write operation. execute it!
if (master->debug_level)
- EC_DBG("Writing SII data to slave %i...\n",
- slave->ring_position);
+ EC_DBG("Writing SII data to slave %u...\n",
+ request->slave->ring_position);
fsm->sii_request = request;
fsm->sii_index = 0;
ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->word_offset,
@@ -414,7 +397,6 @@
slave = request->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT ||
- slave->online_state == EC_SLAVE_OFFLINE ||
slave->error_flag) {
EC_ERR("Discarding Sdo request, slave %u not ready.\n",
slave->ring_position);
@@ -425,7 +407,7 @@
// Found pending Sdo request. Execute it!
if (master->debug_level)
- EC_DBG("Processing Sdo request for slave %i...\n",
+ EC_DBG("Processing Sdo request for slave %u...\n",
slave->ring_position);
// Start uploading Sdo
@@ -459,7 +441,6 @@
// FIXME do not check all slaves in every cycle...
list_for_each_entry(slave, &master->slaves, list) {
if (slave->error_flag
- || slave->online_state == EC_SLAVE_OFFLINE
|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
|| (slave->current_state == slave->requested_state
&& slave->self_configured)) continue;
@@ -529,7 +510,6 @@
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
- || slave->online_state == EC_SLAVE_OFFLINE
|| slave->error_flag) continue;
if (master->debug_level) {
@@ -608,17 +588,20 @@
}
// did the slave not respond to its station address?
- if (datagram->working_counter == 0) {
- ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
- ec_fsm_master_action_next_slave_state(fsm);
- return;
- }
-
- // FIXME what to to on multiple response?
-
- // slave responded
+ if (datagram->working_counter != 1) {
+ if (!slave->error_flag) {
+ slave->error_flag = 1;
+ if (fsm->master->debug_level)
+ EC_DBG("Slave %u did not respond to state query.\n",
+ fsm->slave->ring_position);
+ }
+ fsm->topology_change_pending = 1;
+ fsm->state = ec_fsm_master_state_error;
+ return;
+ }
+
+ // a single slave responded
ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
- ec_slave_set_online_state(slave, EC_SLAVE_ONLINE);
// check, if new slave state has to be acknowledged
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
--- a/master/slave.c Fri Apr 25 12:23:52 2008 +0000
+++ b/master/slave.c Fri Apr 25 12:45:44 2008 +0000
@@ -118,7 +118,6 @@
slave->config = NULL;
slave->requested_state = EC_SLAVE_STATE_PREOP;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
- slave->online_state = EC_SLAVE_ONLINE;
slave->self_configured = 0;
slave->error_flag = 0;
@@ -329,35 +328,6 @@
/*****************************************************************************/
/**
- * Sets the online state of a slave.
- */
-
-void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
- ec_slave_online_state_t new_state /**< new online state */
- )
-{
- if (new_state == EC_SLAVE_OFFLINE &&
- slave->online_state == EC_SLAVE_ONLINE) {
- if (slave->master->debug_level)
- EC_DBG("Slave %u: offline.\n", slave->ring_position);
- }
- else if (new_state == EC_SLAVE_ONLINE &&
- slave->online_state == EC_SLAVE_OFFLINE) {
- slave->error_flag = 0; // clear error flag
- if (slave->master->debug_level) {
- char cur_state[EC_STATE_STRING_SIZE];
- ec_state_string(slave->current_state, cur_state);
- EC_DBG("Slave %u: online (%s).\n",
- slave->ring_position, cur_state);
- }
- }
-
- slave->online_state = new_state;
-}
-
-/*****************************************************************************/
-
-/**
* Request a slave state and resets the error flag.
*/
--- a/master/slave.h Fri Apr 25 12:23:52 2008 +0000
+++ b/master/slave.h Fri Apr 25 12:45:44 2008 +0000
@@ -82,15 +82,6 @@
/*****************************************************************************/
-/** EtherCAT slave online state.
- */
-typedef enum {
- EC_SLAVE_OFFLINE,
- EC_SLAVE_ONLINE
-} ec_slave_online_state_t;
-
-/*****************************************************************************/
-
/** Supported mailbox protocols.
*/
enum {
@@ -182,7 +173,6 @@
ec_slave_config_t *config; /**< Current configuration. */
ec_slave_state_t requested_state; /**< Requested application state. */
ec_slave_state_t current_state; /**< Current application state. */
- ec_slave_online_state_t online_state; /**< online state */
unsigned int self_configured; /**< Slave was configured by this master. */
unsigned int error_flag; /**< Stop processing after an error. */
@@ -220,7 +210,6 @@
void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
-void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t);
// SII categories
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);