From 1e696ced3df33216007f128c42625539c5ac0cf6 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 19 Feb 2008 09:58:48 +0000
Subject: [PATCH] Allow bus configuration when link is down.
---
examples/mini/mini.c | 2 +-
master/fsm_master.c | 2 ++
master/master.c | 39 +++++++++++++++++++++++----------------
master/module.c | 5 -----
4 files changed, 26 insertions(+), 22 deletions(-)
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index 93373a22..df6ce92b 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -86,7 +86,7 @@ static uint8_t off_ana_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
- {0, 2, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
+ //{0, 2, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{}
};
#endif
diff --git a/master/fsm_master.c b/master/fsm_master.c
index 70b5e98a..fd20a004 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -845,6 +845,8 @@ void ec_fsm_master_state_clear_addresses(
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_ERR("Failed to receive address clearing datagram (state %i).\n",
datagram->state);
+ master->scan_state = EC_REQUEST_FAILURE;
+ wake_up_interruptible(&master->scan_queue);
fsm->state = ec_fsm_master_state_error;
return;
}
diff --git a/master/master.c b/master/master.c
index 19b59324..52e351d7 100644
--- a/master/master.c
+++ b/master/master.c
@@ -126,7 +126,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
INIT_LIST_HEAD(&master->configs);
- master->scan_state = EC_REQUEST_IN_PROGRESS;
+ master->scan_state = EC_REQUEST_COMPLETE;
master->allow_scan = 1;
init_MUTEX(&master->scan_sem);
init_waitqueue_head(&master->scan_queue);
@@ -454,15 +454,20 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
if (master->debug_level)
EC_DBG("Waiting for pending slave configuration returned.\n");
+ if (master->debug_level)
+ EC_DBG("Disable scanning, current scan state: %u\n",
+ master->scan_state);
down(&master->scan_sem);
master->allow_scan = 0; // 'lock' the slave list
up(&master->scan_sem);
- // wait for slave scan to complete
- if (wait_event_interruptible(master->scan_queue,
- master->scan_state != EC_REQUEST_IN_PROGRESS)) {
- EC_INFO("Waiting for slave scan interrupted by signal.\n");
- goto out_allow;
+ if (master->scan_state == EC_REQUEST_IN_PROGRESS) {
+ // wait for slave scan to complete
+ if (wait_event_interruptible(master->scan_queue,
+ master->scan_state != EC_REQUEST_IN_PROGRESS)) {
+ EC_INFO("Waiting for slave scan interrupted by signal.\n");
+ goto out_allow;
+ }
}
if (master->debug_level)
@@ -1347,19 +1352,21 @@ int ecrt_master_activate(ec_master_t *master)
// request slave configuration
down(&master->config_sem);
master->allow_config = 1; // request the current configuration
- master->config_state = EC_REQUEST_IN_PROGRESS;
up(&master->config_sem);
- // wait for configuration to complete
- if (wait_event_interruptible(master->config_queue,
- master->config_state != EC_REQUEST_IN_PROGRESS)) {
- EC_INFO("Waiting for configuration interrupted by signal.\n");
- return -1;
- }
+ if (master->main_device.link_state) {
+ // wait for configuration to complete
+ master->config_state = EC_REQUEST_IN_PROGRESS;
+ if (wait_event_interruptible(master->config_queue,
+ master->config_state != EC_REQUEST_IN_PROGRESS)) {
+ EC_INFO("Waiting for configuration interrupted by signal.\n");
+ return -1;
+ }
- if (master->config_state != EC_REQUEST_COMPLETE) {
- EC_ERR("Failed to configure slaves.\n");
- return -1;
+ if (master->config_state != EC_REQUEST_COMPLETE) {
+ EC_ERR("Failed to configure slaves.\n");
+ return -1;
+ }
}
// restart EoE process and master thread with new locking
diff --git a/master/module.c b/master/module.c
index e7310efa..f52bb2b2 100644
--- a/master/module.c
+++ b/master/module.c
@@ -577,11 +577,6 @@ ec_master_t *ecrt_request_master(unsigned int master_index)
up(&master->device_sem);
- if (!master->main_device.link_state) {
- EC_ERR("Link is DOWN.\n");
- goto out_module_put;
- }
-
if (ec_master_enter_operation_mode(master)) {
EC_ERR("Failed to enter OPERATION mode!\n");
goto out_module_put;
--
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