Fix externalPortConfiguration issues

- Force to stay on UNCALIBRATED state (was going to slave state) - Force to stay on PRE-MASTER state (was going to master state)

Fix externalPortConfiguration issues
- Force to stay on UNCALIBRATED state (was going to slave state) - Force to stay on PRE-MASTER state (was going to master state)
6f8bd484 · Jean-Claude BAU · Adam Wujek · 2e5d6f4d · 6f8bd484 · 6f8bd484
Commit 6f8bd484 authored Sep 26, 2018 by Jean-Claude BAU Committed by Adam Wujek Nov 21, 2018
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Showing with 7 additions and 3 deletions

state-master.c proto-standard/state-master.c +4 -2

state-slave.c proto-standard/state-slave.c +3 -1

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--- a/proto-standard/state-master.c
+++ b/proto-standard/state-master.c
@@ -49,9 +49,11 @@ int pp_master(struct pp_instance *ppi, void *buf, int len)
 					   * master */

 	/* upgrade from pre-master to master */
-	if (pre && pp_timeout(ppi, PP_TO_QUALIFICATION)) {
+	if (pre &&
+			pp_timeout(ppi, PP_TO_QUALIFICATION) &&
+			!DSDEF(ppi)->externalPortConfigurationEnabled) {
 		ppi->next_state = PPS_MASTER;
-		/* start sending imediately and reenter */
+		/* start sending immediately and reenter */
 		pp_timeout_clear(ppi, PP_TO_SYNC_SEND);
 		pp_timeout_clear(ppi, PP_TO_ANN_SEND);
 		ppi->next_delay = 0;

--- a/proto-standard/state-slave.c
+++ b/proto-standard/state-slave.c
@@ -223,10 +223,12 @@ int pp_slave(struct pp_instance *ppi, void *buf, int len)
 		}
 	} else {
 		/* TODO add implementation specific SYNCHRONIZATION event */
-		if (! DSDEF(ppi)->externalPortConfigurationEnabled )
 			if (pp_timeout(ppi, PP_TO_FAULT))
 				ppi->next_state = PPS_UNCALIBRATED;
 	}
+	/* Force to stay on desired state if externalPortConfiguration option is enabled */
+	if (DSDEF(ppi)->externalPortConfigurationEnabled )
+		ppi->next_state = ppi->externalPortConfigurationPortDS.desiredState;

 	/* when entering uncalibrated init servo */
 	if (uncalibrated && (ppi->is_new_state)) {