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Add check that all slaves are present

This commit is contained in:
rtlaka 2018-01-31 10:18:56 +01:00
parent cd243dedcc
commit f329d2fc3a
1 changed files with 10 additions and 2 deletions
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12
soem/ethercatmain.c
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@ -724,11 +724,19 @@ int ecx_readstate(ecx_contextt *context)
ec_alstatust sl[MAX_FPRD_MULTI];
uint16 slca[MAX_FPRD_MULTI];
boolean noerrorflag, allslavessamestate;
boolean allslavespresent = FALSE;
int wkc;
/* 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);
wkc = ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval, EC_TIMEOUTRET);
if(wkc == *(context->slavecount))
{
allslavespresent = TRUE;
}
rval = etohs(rval);
bitwisestate = (rval & 0x0f);
@ -757,7 +765,7 @@ int ecx_readstate(ecx_contextt *context)
break;
}
if (noerrorflag && allslavessamestate)
if (noerrorflag && allslavessamestate && allslavespresent)
{
/* No slave has toggled the error flag so the alstatuscode
* (even if different from 0) should be ignored and