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remove boot state from ecx_readstate and add some documentation (#643) 

* remove boot state from ecx_readstate and documentation
This commit is contained in:
lbckmnn 2022-09-19 07:47:55 +02:00 committed by GitHub
parent 42ec9bf238
commit 26fc5dd8e3
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1 changed files with 15 additions and 2 deletions
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15
soem/ethercatmain.c
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@ -716,6 +716,7 @@ int ecx_FPRD_multi(ecx_contextt *context, int n, uint16 *configlst, ec_alstatust
}
/** Read all slave states in ec_slave.
* @warning The BOOT state is actually higher than INIT and PRE_OP (see state representation)
* @param[in] context = context struct
* @return lowest state found
*/
@ -753,9 +754,9 @@ int ecx_readstate(ecx_contextt *context)
switch (bitwisestate)
{
/* Note: BOOT State collides with PRE_OP | INIT and cannot be used here */
case EC_STATE_INIT:
case EC_STATE_PRE_OP:
case EC_STATE_BOOT:
case EC_STATE_SAFE_OP:
case EC_STATE_OPERATIONAL:
allslavessamestate = TRUE;
@ -852,6 +853,11 @@ 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
* @warning If this is used for slave 0 (=all slaves), the state of all slaves is read by an bitwise OR operation.
* The returned value is also the bitwise OR state of all slaves.
* This has some implications for the BOOT state. The Boot state representation collides with INIT | PRE_OP so this
* function cannot be used for slave = 0 and reqstate = EC_STATE_BOOT and also, if the returned state is BOOT, some
* slaves might actually be in INIT and PRE_OP and not in BOOT.
* @param[in] context = context struct
* @param[in] slave = Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
* @param[in] reqstate = Requested state
@ -2137,6 +2143,7 @@ uint32 ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t)
}
/** Read all slave states in ec_slave.
* @warning The BOOT state is actually higher than INIT and PRE_OP (see state representation).
* @return lowest state found
* @see ecx_readstate
*/
@ -2158,6 +2165,12 @@ int ec_writestate(uint16 slave)
/** Check actual slave state.
* This is a blocking function.
* To refresh the state of all slaves ecx_readstate() should be called.
* @warning If this is used for slave 0 (=all slaves), the state of all slaves is read by an bitwise OR operation.
* The returned value is also the bitwise OR state of all slaves.
* This has some implications for the BOOT state. The Boot state representation collides with INIT | PRE_OP so this
* function cannot be used for slave = 0 and reqstate = EC_STATE_BOOT and also, if the returned state is BOOT, some
* slaves might actually be in INIT and PRE_OP and not in BOOT.
* @param[in] slave = Slave number, 0 = all slaves
* @param[in] reqstate = Requested state
* @param[in] timeout = Timeout value in us