From d514439e6e7ae72c99d04ed67ac3abcb8f30bea0 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 1 Aug 2008 08:58:35 +0000
Subject: [PATCH] Configure Pdos before configuring the Pdo sync managers, to
earlier detect problems with non-existing SM information.
---
TODO | 1 -
documentation/graphs/fsm_slave_conf.dot | 59 +++++++++---------------
master/fsm_pdo.c | 2 +-
master/fsm_slave_config.c | 60 +++++++++++++++----------
4 files changed, 58 insertions(+), 64 deletions(-)
diff --git a/TODO b/TODO
index 86bb85ed..61ac08bc 100644
--- a/TODO
+++ b/TODO
@@ -14,7 +14,6 @@ Version 1.4.0:
* Remove ec_sync_t::assign_source?
* Repair rcethercat status.
* Debug output for all configuration functions of the application interface.
-* Output warning, if there is no sync manager for a configuration.
* Abort code messages in userspace.
Future issues:
diff --git a/documentation/graphs/fsm_slave_conf.dot b/documentation/graphs/fsm_slave_conf.dot
index f7e18d42..c53ca70d 100644
--- a/documentation/graphs/fsm_slave_conf.dot
+++ b/documentation/graphs/fsm_slave_conf.dot
@@ -10,78 +10,61 @@ digraph slaveconf {
start -> init [weight=10]
init [fontname="Helvetica"]
- //init -> init
- //init -> error
- init -> enter_mbox_sync [fontname="Helvetica",label ="No FMMUs"]
+ init -> enter_mbox_sync [fontname="Helvetica", label="No FMMUs"]
init -> clear_fmmus [weight=10]
clear_fmmus [fontname="Helvetica"]
- //clear_fmmus -> clear_fmmus
- //clear_fmmus -> error
clear_fmmus -> enter_mbox_sync [weight=10]
- enter_mbox_sync [shape=point,label=""]
- enter_mbox_sync -> end [fontname="Helvetica",label="INIT\nrequested"]
- enter_mbox_sync -> preop [fontname="Helvetica",label="No mailboxes"]
+ enter_mbox_sync [shape=point, label=""]
+ enter_mbox_sync -> end [fontname="Helvetica", label="INIT\nrequested"]
+ enter_mbox_sync -> preop [fontname="Helvetica", label="No mailboxes"]
enter_mbox_sync -> mbox_sync [weight=10]
mbox_sync [fontname="Helvetica"]
- //mbox_sync -> mbox_sync
- //mbox_sync -> error
mbox_sync -> preop [weight=10]
preop [fontname="Helvetica"]
- //preop -> preop
- //preop -> error
- preop -> end [fontname="Helvetica",label="PREOP\nrequested"]
- preop -> enter_safeop [fontname="Helvetica",label="No slave\nconfig attached"]
+ preop -> end [fontname="Helvetica", label="PREOP\nrequested"]
+ preop -> enter_safeop [fontname="Helvetica", label="No slave\nconfig attached"]
preop -> enter_sdo_conf [weight=10]
- enter_sdo_conf [shape=point,label=""]
- enter_sdo_conf -> enter_pdo_sync [fontname="Helvetica",label="No Sdo\nconfigurations"]
+ enter_sdo_conf [shape=point, label=""]
+ enter_sdo_conf -> enter_pdo_conf [fontname="Helvetica", label="No Sdos\nconfigured"]
enter_sdo_conf -> sdo_conf [weight=10]
sdo_conf [fontname="Helvetica"]
- //sdo_conf -> sdo_conf
- //sdo_conf -> error
- sdo_conf -> enter_pdo_sync [weight=10]
+ sdo_conf -> enter_pdo_conf [weight=10]
- enter_pdo_sync [shape=point,label=""]
- enter_pdo_sync -> enter_safeop [fontname="Helvetica",label="No Pdos"]
+ enter_pdo_conf [shape=point, label=""]
+ enter_pdo_conf -> pdo_conf [weight=10]
+
+ pdo_conf [fontname="Helvetica"]
+ pdo_conf -> enter_pdo_sync [weight=10]
+
+ enter_pdo_sync [shape=point, label=""]
+ enter_pdo_sync -> enter_fmmu [fontname="Helvetica", label="No Pdo SMs"]
enter_pdo_sync -> pdo_sync [weight=10]
pdo_sync [fontname="Helvetica"]
- //pdo_sync -> pdo_sync
- //pdo_sync -> error
- pdo_sync -> pdo_conf [weight=10]
-
- pdo_conf [fontname="Helvetica"]
- //pdo_conf -> pdo_conf
- //pdo_conf -> error
- pdo_conf -> enter_fmmu [weight=10]
+ pdo_sync -> enter_fmmu [weight=10]
enter_fmmu [shape=point,label=""]
- enter_fmmu -> enter_safeop [fontname="Helvetica",label="No FMMUs\nto configure"]
+ enter_fmmu -> enter_safeop [fontname="Helvetica", label="No FMMUs\nconfigured"]
enter_fmmu -> fmmu [weight=10]
fmmu [fontname="Helvetica"]
- //fmmu -> fmmu
- //fmmu -> error
fmmu -> enter_safeop [weight=10]
enter_safeop [shape=point,label=""]
enter_safeop -> safeop [weight=10]
safeop [fontname="Helvetica"]
- //safeop -> safeop
- //safeop -> error
- safeop -> end [fontname="Helvetica",label="SAFEOP\nrequested"]
+ safeop -> end [fontname="Helvetica", label="SAFEOP\nrequested"]
safeop -> op [weight=10]
op [fontname="Helvetica"]
- //op -> op
- //op -> error
- op -> end [weight=10]
+ op -> end// [weight=10]
end [fontname="Helvetica"]
}
diff --git a/master/fsm_pdo.c b/master/fsm_pdo.c
index bf1ccaa4..dc812940 100644
--- a/master/fsm_pdo.c
+++ b/master/fsm_pdo.c
@@ -413,7 +413,7 @@ void ec_fsm_pdo_conf_action_next_sync(
if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
if (!list_empty(&fsm->pdos.list))
EC_WARN("Pdos configured for SM%u, but slave %u does not "
- "provide a sync manager configuration!\n",
+ "provide the sync manager information!\n",
fsm->sync_index, fsm->slave->ring_position);
continue;
}
diff --git a/master/fsm_slave_config.c b/master/fsm_slave_config.c
index f52c44e2..e2dc0ce0 100644
--- a/master/fsm_slave_config.c
+++ b/master/fsm_slave_config.c
@@ -61,6 +61,7 @@ void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
@@ -440,7 +441,7 @@ void ec_fsm_slave_config_enter_sdo_conf(
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
- ec_fsm_slave_config_enter_pdo_sync(fsm);
+ ec_fsm_slave_config_enter_pdo_conf(fsm);
return;
}
@@ -482,6 +483,39 @@ void ec_fsm_slave_config_state_sdo_conf(
}
// All Sdos are now configured.
+ ec_fsm_slave_config_enter_pdo_conf(fsm);
+}
+
+/*****************************************************************************/
+
+/** PDO_CONF entry function.
+ */
+void ec_fsm_slave_config_enter_pdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ // Start configuring Pdos
+ ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
+ fsm->state = ec_fsm_slave_config_state_pdo_conf;
+ fsm->state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: PDO_CONF.
+ */
+void ec_fsm_slave_config_state_pdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_pdo_exec(fsm->fsm_pdo))
+ return;
+
+ if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
+ EC_WARN("Pdo configuration failed on slave %u.\n",
+ fsm->slave->ring_position);
+ }
+
ec_fsm_slave_config_enter_pdo_sync(fsm);
}
@@ -509,7 +543,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
if (slave->sii.sync_count <= offset) {
// no Pdo sync managers to configure
- ec_fsm_slave_config_enter_safeop(fsm);
+ ec_fsm_slave_config_enter_fmmu(fsm);
return;
}
@@ -565,28 +599,6 @@ void ec_fsm_slave_config_state_pdo_sync(
return;
}
- // Start configuring Pdos
- ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
- fsm->state = ec_fsm_slave_config_state_pdo_conf;
- fsm->state(fsm); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Slave configuration state: PDO_CONF.
- */
-void ec_fsm_slave_config_state_pdo_conf(
- ec_fsm_slave_config_t *fsm /**< slave state machine */
- )
-{
- if (ec_fsm_pdo_exec(fsm->fsm_pdo))
- return;
-
- if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
- EC_WARN("Pdo configuration failed on slave %u.\n",
- fsm->slave->ring_position);
- }
-
ec_fsm_slave_config_enter_fmmu(fsm);
}
--
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