libs
/
SOEM
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #63 from MagnaboscoL/master 

minor improvement  ecx_readstate()
This commit is contained in:
nakarlsson 2016-10-29 10:03:09 +02:00 committed by GitHub
parent 03601959b6 c97e92e4ec
commit 1b0635ca28
1 changed files with 83 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

116
soem/ethercatmain.c
View File

@ -756,44 +756,95 @@ int ecx_FPRD_multi(ecx_contextt *context, int n, uint16 *configlst, ec_alstatust
*/
int ecx_readstate(ecx_contextt *context)
{
uint16 slave, fslave, lslave, configadr, lowest, rval;
uint16 slave, fslave, lslave, configadr, lowest, rval, bitwisestate;
ec_alstatust sl[MAX_FPRD_MULTI];
uint16 slca[MAX_FPRD_MULTI];
boolean noerrorflag, allslavessamestate;
lowest = 0xff;
context->slavelist[0].ALstatuscode = 0;
fslave = 1;
do
/* Try to establish the state of all slaves sending only one broadcast datargam.
* This way a number of datagrams equal to the number of slaves will be sent only if needed.*/
rval = 0;
ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval, EC_TIMEOUTRET);
rval = etohs(rval);
bitwisestate = (rval & 0x0f);
if ((rval & EC_STATE_ERROR) == 0)
{
lslave = *(context->slavecount);
if ((lslave - fslave) >= MAX_FPRD_MULTI)
{
lslave = fslave + MAX_FPRD_MULTI - 1;
}
for (slave = fslave; slave <= lslave; slave++)
{
const ec_alstatust zero = {0, 0, 0};
noerrorflag = TRUE;
context->slavelist[0].ALstatuscode = 0;
}
else
{
noerrorflag = FALSE;
}
configadr = context->slavelist[slave].configadr;
slca[slave - fslave] = configadr;
sl[slave - fslave] = zero;
}
ecx_FPRD_multi(context, (lslave - fslave) + 1, &(slca[0]), &(sl[0]), EC_TIMEOUTRET3);
for (slave = fslave; slave <= lslave; slave++)
switch (bitwisestate)
{
case EC_STATE_INIT:
case EC_STATE_PRE_OP:
case EC_STATE_BOOT:
case EC_STATE_SAFE_OP:
case EC_STATE_OPERATIONAL:
allslavessamestate = TRUE;
context->slavelist[0].state = bitwisestate;
break;
default:
allslavessamestate = FALSE;
break;
}
if (noerrorflag && allslavessamestate)
{
/* No slave has toggled the error flag so the alstatuscode
* (even if different from 0) should be ignored and
* the slaves have reached the same state so the internal state
* can be updated without sending any datagram. */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
configadr = context->slavelist[slave].configadr;
rval = etohs(sl[slave - fslave].alstatus);
context->slavelist[slave].ALstatuscode = etohs(sl[slave - fslave].alstatuscode);
if ((rval & 0xf) < lowest)
{
lowest = (rval & 0xf);
}
context->slavelist[slave].state = rval;
context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode;
context->slavelist[slave].ALstatuscode = 0x0000;
context->slavelist[slave].state = bitwisestate;
}
fslave = lslave + 1;
} while(lslave < *(context->slavecount));
context->slavelist[0].state = lowest;
lowest = bitwisestate;
}
else
{
/* Not all slaves have the same state or at least one is in error so one datagram per slave
* is needed. */
context->slavelist[0].ALstatuscode = 0;
lowest = 0xff;
fslave = 1;
do
{
lslave = *(context->slavecount);
if ((lslave - fslave) >= MAX_FPRD_MULTI)
{
lslave = fslave + MAX_FPRD_MULTI - 1;
}
for (slave = fslave; slave <= lslave; slave++)
{
const ec_alstatust zero = { 0, 0, 0 };
configadr = context->slavelist[slave].configadr;
slca[slave - fslave] = configadr;
sl[slave - fslave] = zero;
}
ecx_FPRD_multi(context, (lslave - fslave) + 1, &(slca[0]), &(sl[0]), EC_TIMEOUTRET3);
for (slave = fslave; slave <= lslave; slave++)
{
configadr = context->slavelist[slave].configadr;
rval = etohs(sl[slave - fslave].alstatus);
context->slavelist[slave].ALstatuscode = etohs(sl[slave - fslave].alstatuscode);
if ((rval & 0xf) < lowest)
{
lowest = (rval & 0xf);
}
context->slavelist[slave].state = rval;
context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode;
}
fslave = lslave + 1;
} while (lslave < *(context->slavecount));
context->slavelist[0].state = lowest;
}
return lowest;
}
@ -827,8 +878,9 @@ int ecx_writestate(ecx_contextt *context, uint16 slave)
/** Check actual slave state.
* This is a blocking function.
* To refresh the state of all slaves ecx_readstate()should be called
* @param[in] context = context struct
* @param[in] slave = Slave number, 0 = all slaves
* @param[in] slave = Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
* @param[in] reqstate = Requested state
* @param[in] timeout = Timout value in us
* @return Requested state, or found state after timeout.