From 281fd62849c59a0ad6b927fab6578fbc253b35ac Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Sat, 5 Aug 2006 07:11:59 +0000
Subject: [PATCH] New transition in slave conf state machine: Skip fmmu and SDO
configuration.
---
master/fsm.c | 19 +++++++++++++------
1 file changed, 13 insertions(+), 6 deletions(-)
diff --git a/master/fsm.c b/master/fsm.c
index 9d30e4af..87406b41 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -1382,11 +1382,18 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
return;
}
- if (!slave->base_fmmu_count) {
- fsm->slave_state = ec_fsm_slaveconf_saveop;
- fsm->change_new = EC_SLAVE_STATE_SAVEOP;
- fsm->change_state = ec_fsm_change_start;
- fsm->change_state(fsm); // execute immediately
+ if (!slave->base_fmmu_count) { // skip FMMU configuration
+ if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+ fsm->slave_state = ec_fsm_slaveconf_saveop;
+ fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
+ return;
+ }
+ fsm->slave_state = ec_fsm_slaveconf_sdoconf;
+ fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
+ fsm->coe_state = ec_fsm_coe_down_start;
+ fsm->coe_state(fsm); // execute immediately
return;
}
@@ -1424,7 +1431,7 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
}
// No CoE configuration to be applied? Jump to SAVEOP state.
- if (list_empty(&slave->sdo_confs)) {
+ if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
--
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