From f6f80a773364b77bb45fd32f53285d62eaf1d21f Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 9 Jan 2007 14:36:08 +0000
Subject: [PATCH] Re-added slave.configured flag as slave.self_configured.
---
master/fsm.c | 17 +++++++++++++----
master/slave.c | 1 +
master/slave.h | 1 +
3 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/master/fsm.c b/master/fsm.c
index 9d8e5c98..1780eea4 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -325,13 +325,20 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
if (slave->error_flag
|| !slave->online
|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
- || slave->current_state == slave->requested_state) continue;
+ || (slave->current_state == slave->requested_state
+ && slave->self_configured)) continue;
if (master->debug_level) {
ec_state_string(slave->current_state, old_state);
- ec_state_string(slave->requested_state, new_state);
- EC_DBG("Changing state of slave %i (%s -> %s).\n",
- slave->ring_position, old_state, new_state);
+ if (slave->current_state != slave->requested_state) {
+ ec_state_string(slave->requested_state, new_state);
+ EC_DBG("Changing state of slave %i (%s -> %s).\n",
+ slave->ring_position, old_state, new_state);
+ }
+ else if (!slave->self_configured) {
+ EC_DBG("Reconfiguring slave %i (%s).\n",
+ slave->ring_position, old_state);
+ }
}
fsm->master_state = ec_fsm_master_configure_slave;
@@ -1308,6 +1315,8 @@ void ec_fsm_slaveconf_state_init(ec_fsm_t *fsm /**< finite state machine */)
return;
}
+ slave->self_configured = 1;
+
if (master->debug_level) {
EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
}
diff --git a/master/slave.c b/master/slave.c
index d23cdebf..b3fbae1c 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -112,6 +112,7 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
+ slave->self_configured = 0;
slave->error_flag = 0;
slave->online = 1;
slave->fmmu_count = 0;
diff --git a/master/slave.h b/master/slave.h
index aabdd0d5..a9d19c36 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -197,6 +197,7 @@ struct ec_slave
ec_slave_state_t requested_state; /**< requested slave state */
ec_slave_state_t current_state; /**< current slave state */
+ unsigned int self_configured; /**< slave was configured by this master */
unsigned int error_flag; /**< stop processing after an error */
unsigned int online; /**< non-zero, if the slave responds. */
--
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