IgH初始化--未接从站

ec_master_idle_thread流程

第一次循环

ec_fsm_master_state_start封装报文，待发送

设置下一状态机ec_fsm_master_state_broadcast

ecrt_master_send发送ec_fsm_master_state_start封装的报文

ecrt_master_send时，检测到master绑定的网卡处于link down状态，则给报文设置datagram->state = EC_DATAGRAM_ERROR;

根据master是否idle，选定一个延时时间，延时时间到后，执行第二次循环。

第二次循环

执行ec_fsm_master_state_broadcast函数

fsm->rescan_required，不需要

master->slave_count，没扫描到从站，所以是0

所以ec_fsm_master_state_broadcast中的if条件不好被执行，最终执行最后的ec_fsm_master_restart的函数，在ec_fsm_master_restart函数中将状态机设置为ec_fsm_master_state_start并立即执行。

root@ubuntu:/home/gsf# while true;do dmesg -c;sleep 1;done
[  396.698450] ec_master: loading out-of-tree module taints kernel.
[  396.700257] EtherCAT: Master driver 1.5.2 unknown
[  396.700271] geshifei ec_fsm_master_reset 128:  set fsm->state to ec_fsm_master_state_start
[  396.700272] geshifei ec_fsm_coe_init 175:  set fsm->state to null
[  396.700272] geshifei ec_fsm_soe_init 109:  set fsm->state to NULL
[  396.700273] geshifei ec_fsm_change_init 70:  set fsm->state to NULL
[  396.700274] geshifei ec_fsm_sii_init 78:  set fsm->state to NULL
[  396.700274] geshifei ec_fsm_sii_init 78:  set fsm->state to NULL
[  396.700336] EtherCAT: 1 master waiting for devices.
[  396.707191] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown
[  396.707198] EtherCAT: Accepting 6C:24:08:29:52:19 as main device for master 0.
[  396.707209] ec_generic: Binding socket to interface 2 (enp4s0).
[  396.754697] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  396.754877] geshifei Idle thread running with send interval = 5000000 us, max data size=7931618
[  396.754881] geshifei Idle thread running with send interval = 5000000 us, max data size=7931618
[  396.754895] geshifei ec_master_idle_thread 1603: exec ec_fsm_master_exec
[  396.754897] geshifei ec_fsm_master_exec 163:  exec fsm->state
[  396.754898] geshifei ec_fsm_master_state_start 210:  begin...
[  396.754900] geshifei ec_fsm_master_state_start 257:  set fsm->state to ec_fsm_master_state_broadcast
[  396.754901] geshifei ec_master_idle_thread 1606: exec ec_master_exec_slave_fsms
[  396.754902] geshifei ec_master_exec_slave_fsms 1477: begin...
[  396.754903] geshifei ec_master_exec_slave_fsms 1531: master->fsm_exec_count=0  count=0
[  396.754904] geshifei ec_master_idle_thread 1614: exec ec_master_queue_datagram
[  396.754905] geshifei ec_master_idle_thread 1617: exec ecrt_master_send
[  396.754906] geshifei ecrt_master_send 2518:  set datagram->state = EC_DATAGRAM_ERROR