From 6bed186e61f11c76e9d917ee19bcee67e19ec357 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 9 Aug 2011 22:10:45 +0200
Subject: [PATCH] Improved DC sync at startup: Abort iterating though slaves
and first correct system time offsets, then begin configuring at slave 0.
--HG--
branch : stable-1.5
---
documentation/graphs/fsm_master.dot | 1 +
master/fsm_master.c | 20 +++++++++++++++++++-
2 files changed, 20 insertions(+), 1 deletion(-)
diff --git a/documentation/graphs/fsm_master.dot b/documentation/graphs/fsm_master.dot
index 3affed7f..79997703 100644
--- a/documentation/graphs/fsm_master.dot
+++ b/documentation/graphs/fsm_master.dot
@@ -37,6 +37,7 @@ digraph master {
action_configure [shape=point,label=""]
action_configure -> configure_slave [weight=10]
action_configure -> action_next_slave_state
+ action_configure -> write_system_times
read_state -> acknowledge [weight=10]
read_state -> action_configure
diff --git a/master/fsm_master.c b/master/fsm_master.c
index 9dd461c3..6bdbfa4a 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -566,6 +566,17 @@ void ec_fsm_master_action_configure(
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
+ if (master->config_changed) {
+ // abort iterating through slaves,
+ // first compensate DC system time offsets,
+ // then begin configuring at slave 0
+ EC_MASTER_DBG(master, 1, "Configuration changed"
+ " (aborting state check).\n");
+
+ fsm->slave = master->slaves; // begin with first slave
+ ec_fsm_master_enter_write_system_times(fsm);
+ }
+
// Does the slave have to be configured?
if ((slave->current_state != slave->requested_state
|| slave->force_config) && !slave->error_flag) {
@@ -857,6 +868,7 @@ void ec_fsm_master_enter_write_system_times(
EC_MASTER_DBG(master, 1, "Writing system time offsets...\n");
if (master->has_app_time) {
+
while (fsm->slave < master->slaves + master->slave_count) {
if (!fsm->slave->base_dc_supported
|| !fsm->slave->has_dc_system_time) {
@@ -873,8 +885,14 @@ void ec_fsm_master_enter_write_system_times(
fsm->state = ec_fsm_master_state_dc_read_offset;
return;
}
+
} else {
- EC_MASTER_DBG(master, 1, "No app_time received up to now.\n");
+ if (master->active) {
+ EC_MASTER_ERR(master, "No app_time received up to now,"
+ " but master already active).\n");
+ } else {
+ EC_MASTER_DBG(master, 1, "No app_time received up to now.\n");
+ }
}
ec_master_request_op(master);
--
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