From 0a4bded8ed921ad363833c6cf9c4f381d03cfd25 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 20 Oct 2006 10:48:30 +0000
Subject: [PATCH] Reconfiguration of slaves, though they are in the correct
state at startup.
---
master/fsm.c | 27 +++++++++++++++++++--------
master/slave.c | 1 +
master/slave.h | 1 +
3 files changed, 21 insertions(+), 8 deletions(-)
diff --git a/master/fsm.c b/master/fsm.c
index 35cad062..bc06b574 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -571,15 +571,24 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
// check if any slaves are not in the state, they're supposed to be
list_for_each_entry(slave, &master->slaves, list) {
- if (slave->error_flag ||
- !slave->online ||
- slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
- slave->current_state == slave->requested_state) continue;
+ if (slave->error_flag
+ || !slave->online
+ || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
+ || (slave->current_state == slave->requested_state
+ && (slave->configured
+ || slave->current_state == EC_SLAVE_STATE_INIT))) continue;
+
+ if (!slave->configured
+ && slave->current_state != EC_SLAVE_STATE_INIT) {
+ EC_INFO("Reconfiguring slave %i.\n", slave->ring_position);
+ }
- ec_state_string(slave->current_state, old_state);
- ec_state_string(slave->requested_state, new_state);
- EC_INFO("Changing state of slave %i from %s to %s.\n",
- slave->ring_position, old_state, new_state);
+ if (slave->current_state != slave->requested_state) {
+ ec_state_string(slave->current_state, old_state);
+ ec_state_string(slave->requested_state, new_state);
+ EC_INFO("Changing state of slave %i from %s to %s.\n",
+ slave->ring_position, old_state, new_state);
+ }
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_init;
@@ -1399,6 +1408,8 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->change_state != ec_fsm_end) return;
+ slave->configured = 1;
+
if (master->debug_level) {
EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
}
diff --git a/master/slave.c b/master/slave.c
index 76e147ae..48f07184 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -132,6 +132,7 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
+ slave->configured = 0;
slave->error_flag = 0;
slave->online = 1;
slave->fmmu_count = 0;
diff --git a/master/slave.h b/master/slave.h
index 943895e2..1a311874 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -197,6 +197,7 @@ struct ec_slave
ec_slave_state_t requested_state; /**< requested slave state */
ec_slave_state_t current_state; /**< current slave state */
+ unsigned int configured; /**< the slave is configured by this master */
unsigned int error_flag; /**< stop processing after an error */
unsigned int online; /**< non-zero, if the slave responds. */
uint8_t registered; /**< true, if slave has been registered */
--
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