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

minor_improvement/ ecx_statecheck() improved 

ecx_statecheck() when called with the first argument set to 0 automatically updates the state of all the slaves in the slavelist structure when possible,
This commit is contained in:
Luca 2016-10-18 00:35:54 +02:00 committed by GitHub
parent 03601959b6
commit 28927aab87
1 changed files with 30 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
soem/ethercatmain.c
View File

@ -849,9 +849,39 @@ uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int
{
if (slave < 1)
{
uint16 bitWiseState;
uint16 slaveIndex;
rval = 0;
ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval , EC_TIMEOUTRET);
rval = etohs(rval);
bitWiseState = (rval & 0x0f);
if((rval & 0xf0) == 0)
{
/* No slave has toggled the error flag so the alstatuscode (even if different from 0) should be ignored */
for(slaveIndex = 0; slaveIndex < *(context->slavecount); slaveIndex++)
{
ec_slave[slaveIndex].ALstatuscode = 0x0000;
}
}
switch(bitWiseState)
{
case EC_STATE_INIT:
case EC_STATE_PRE_OP:
case EC_STATE_BOOT:
case EC_STATE_SAFE_OP:
case EC_STATE_OPERATIONAL:
/* All the slaves have reached the same state so we can update the state of every slave */
for(slaveIndex = 0; slaveIndex < *(context->slavecount); slaveIndex++)
{
ec_slave[slaveIndex].state = bitWiseState;
}
break;
default:
break;
}
}
else
{