On 2 February 2015 20:18, quoth Knud Baastrup: > 16_improved_ethercat_rescan_performance.patch: > The SII data and PDOs will now be stored when the EtherCAT master is in its > operation phase. The stored SII data and PDOs will be detached from the > slaves prior to a scanning and re-attached during the scanning without the > need to fetch the SII data and PDOs once again. The SII data and PDOs will > however only be stored if the slave have a serial number defined as this > serial number will be used when re-attaching the SII data and PDOs.
Ooh, thanks for that one. That's one of the performance holes that I was planning on investigating myself soonish. (A somewhat related one is that when a slave drops to SAFEOP+ERROR as a result of a comms watchdog error, it *should* be safe for the master to bring it straight up to OP, especially when the slave has a serial and can be unambiguously identified, but currently it's doing a full back-to-PREOP reconfigure.) I've been meaning to post the full patchset that I'm using at the moment (in the hopes that a few pieces at least can get integrated), but I'm still investigating a few issues (and working on unrelated things), so it's not quite ready yet. Although (at least partly due to inertia) I'm currently using Frank's mailbox patches rather than yours. :) _______________________________________________ etherlab-dev mailing list etherlab-dev@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-dev
