From 2f9dfa4f0ca77ea40dc58d052e0c86f53a4dbd1d Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 27 Jan 2009 14:14:37 +0000
Subject: [PATCH] Allow the slave to not respond to the mailbox sync manager
configuration datagram for a certain time.
---
TODO | 1 -
master/fsm_slave_config.c | 33 ++++++++++++++++++++++++++++++++-
master/fsm_slave_config.h | 2 ++
3 files changed, 34 insertions(+), 2 deletions(-)
diff --git a/TODO b/TODO
index 0c739db9..3aa6c4b2 100644
--- a/TODO
+++ b/TODO
@@ -26,7 +26,6 @@ Version 1.5.0:
* Bus simulator interface.
* Implement ecrt_master_slave() in kernel space.
* Rename phy-commands to register commands.
-* Timeout for sync manager config after clearing.
Future issues:
diff --git a/master/fsm_slave_config.c b/master/fsm_slave_config.c
index b0bcb034..57c0f6d8 100644
--- a/master/fsm_slave_config.c
+++ b/master/fsm_slave_config.c
@@ -451,6 +451,8 @@ void ec_fsm_slave_config_enter_mbox_sync(
slave->sii.boot_tx_mailbox_size;
}
+ fsm->take_time = 1;
+
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_mbox_sync;
}
@@ -479,7 +481,36 @@ void ec_fsm_slave_config_state_mbox_sync(
return;
}
- if (datagram->working_counter != 1) {
+ if (fsm->take_time) {
+ fsm->take_time = 0;
+ fsm->jiffies_start = datagram->jiffies_sent;
+ }
+
+ /* Because the sync manager configurations are cleared during the last
+ * cycle, some slaves do not immediately respond to the mailbox sync
+ * manager configuration datagram. Therefore, resend the datagram for
+ * a certain time, if the slave does not respond.
+ */
+ if (datagram->working_counter == 0) {
+ unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
+
+ if (diff >= HZ) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Timeout while configuring mailbox sync managers of"
+ " slave %u.\n", slave->ring_position);
+ return;
+ }
+ else if (slave->master->debug_level) {
+ EC_DBG("Resending after %u ms...\n",
+ (unsigned int) diff * 1000 / HZ);
+ }
+
+ // send configuration datagram again
+ fsm->retries = EC_FSM_RETRIES;
+ return;
+ }
+ else if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set sync managers of slave %u: ",
diff --git a/master/fsm_slave_config.h b/master/fsm_slave_config.h
index a6e56809..0af962c1 100644
--- a/master/fsm_slave_config.h
+++ b/master/fsm_slave_config.h
@@ -60,6 +60,8 @@ struct ec_fsm_slave_config
unsigned int retries; /**< Retries on datagram timeout. */
ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
ec_sdo_request_t request_copy; /**< Copied SDO request. */
+ unsigned long jiffies_start; /**< For timeout calculations. */
+ unsigned int take_time; /**< Store jiffies after datagram reception. */
};
/*****************************************************************************/
--
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