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Merge pull request #119 from nakarlsson/master 

Add support for input- or output only slaves
pull/123/head
nakarlsson 2022-06-15 20:58:33 +02:00 committed by GitHub
parent 6fc395e085 366c07f446
commit acc59dd6b8
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 51 additions and 8 deletions
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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)