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Add support for input- or output only slaves 

Seperate validation of SM configuration that
depend on size of tx/rx pdo.

Add disable of SM3 when input only slave
reports error in OP.

Don't enable SM3 on start input if no inputs

Don't enable SM2 on start outputs if no
outputs

fix #112
fix #113
pull/119/head
andreas karlsson 2022-06-14 20:56:29 +02:00
parent 6fc395e085
commit 366c07f446
2 changed files with 51 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
soes/ecat_slv.c
View File

@ -202,7 +202,8 @@ void DIG_process (uint8_t flags)
}
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ESCvar.ESC_SM2_sml > 0))
{
DPRINT("DIG_process watchdog expired\n");
ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);

56
soes/esc.c
View File

@ -688,8 +688,19 @@ uint8_t ESC_checkSM23 (uint8_t state)
_ESCsm2 *SM;
ESC_read (ESCREG_SM2, (void *) &ESCvar.SM[2], sizeof (ESCvar.SM[2]));
SM = (_ESCsm2 *) & ESCvar.SM[2];
if ((etohs (SM->PSA) != ESC_SM2_sma) || (etohs (SM->Length) != ESCvar.ESC_SM2_sml)
|| (SM->Command != ESC_SM2_smc) || !(SM->ActESC & ESC_SM2_act))
/* Check SM settings */
if ((etohs (SM->PSA) != ESC_SM2_sma) ||
(SM->Command != ESC_SM2_smc))
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
/* fail state change */
return (ESCpreop | ESCerror);
}
/* If length > 0 check run-time settings */
else if ((ESCvar.ESC_SM2_sml > 0) &&
((etohs (SM->Length) != ESCvar.ESC_SM2_sml) ||
!(SM->ActESC & ESC_SM2_act)))
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
/* fail state change */
@ -701,10 +712,21 @@ uint8_t ESC_checkSM23 (uint8_t state)
/* SM2 overlaps SM3, fail state change */
return (ESCpreop | ESCerror);
}
ESC_read (ESCREG_SM3, (void *) &ESCvar.SM[3], sizeof (ESCvar.SM[3]));
SM = (_ESCsm2 *) & ESCvar.SM[3];
if ((etohs (SM->PSA) != ESC_SM3_sma) || (etohs (SM->Length) != ESCvar.ESC_SM3_sml)
|| (SM->Command != ESC_SM3_smc) || !(SM->ActESC & ESC_SM3_act))
/* Check SM settings */
if ((etohs (SM->PSA) != ESC_SM3_sma) ||
(SM->Command != ESC_SM3_smc))
{
ESCvar.SMtestresult = SMRESULT_ERRSM3;
/* fail state change */
return (ESCpreop | ESCerror);
}
/* If length > 0 check run-time settings */
else if ((ESCvar.ESC_SM3_sml > 0) &&
((etohs (SM->Length) != ESCvar.ESC_SM3_sml) ||
!(SM->ActESC & ESC_SM3_act)))
{
ESCvar.SMtestresult = SMRESULT_ERRSM3;
/* fail state change */
@ -727,7 +749,12 @@ uint8_t ESC_startinput (uint8_t state)
if (state != (ESCpreop | ESCerror))
{
ESC_SMenable (3);
/* If inputs > 0 , enable SM3 */
if (ESCvar.ESC_SM3_sml > 0)
{
ESC_SMenable (3);
}
/* Go to state input regardless of any inputs present */
CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_INPUT);
}
else
@ -812,8 +839,13 @@ void ESC_stopinput (void)
*/
uint8_t ESC_startoutput (uint8_t state)
{
ESC_SMenable (2);
/* If outputs > 0 , enable SM2 */
if (ESCvar.ESC_SM2_sml > 0)
{
ESC_SMenable (2);
}
/* Go to state output regardless of any outputs present */
CC_ATOMIC_OR(ESCvar.App.state, APPSTATE_OUTPUT);
return state;
@ -1167,6 +1199,11 @@ void ESC_state (void)
an = ESCsafeop | ESCerror;
ESC_ALerror (ALERR_INVALIDSTATECHANGE);
ESC_stopoutput ();
/* If no outputs present, we need to flag error using SM3 */
if (ESCvar.ESC_SM2_sml == 0 && ESCvar.ESC_SM3_sml > 0)
{
ESC_SMdisable (3);
}
break;
}
case OP_TO_SAFEOP:
@ -1180,6 +1217,11 @@ void ESC_state (void)
if (an == ESCop)
{
ESC_stopoutput ();
/* If no outputs present, we need to flag error using SM3 */
if (ESCvar.ESC_SM2_sml == 0 && ESCvar.ESC_SM3_sml > 0)
{
ESC_SMdisable (3);
}
an = ESCsafeop;
}
if (as == ESCsafeop)