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revert ecx_statecheck() to original

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This commit is contained in:
MagnaboscoL 2016-10-25 20:25:10 +02:00
parent 298397bcc3
commit c97e92e4ec
1 changed files with 2 additions and 65 deletions
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67
soem/ethercatmain.c
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@ -878,8 +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.
@ -900,73 +901,9 @@ uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int
{
if (slave < 1)
{
uint16 bitwisestate;
uint16 slaveindex;
boolean allslavessamestate;
boolean noerrorflag;
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)
{
noerrorflag = TRUE;
context->slavelist[0].ALstatuscode = 0;
}
else
{
noerrorflag = FALSE;
}
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;
break;
default:
allslavessamestate = FALSE;
break;
}
if (noerrorflag || allslavessamestate)
{
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 (slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
{
context->slavelist[slaveindex].ALstatuscode = 0x0000;
context->slavelist[slaveindex].state = bitwisestate;
}
}
else if (noerrorflag)
{
/* No slave has toggled the error flag so the alstatuscode
* (even if different from 0) should be ignored. */
for (slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
{
context->slavelist[slaveindex].ALstatuscode = 0x0000;
}
}
else
{
/* All the slaves have reached the same state therefore
* the internal state can be updated without sending any datagram. */
for (slaveindex = 1; slaveindex <= *(context->slavecount); slaveindex++)
{
context->slavelist[slaveindex].state = bitwisestate;
}
}
}
}
else
{