etherlabmaster: master/fsm_master.c@000593b576dd (annotated)

238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	12	* License, or (at your option) any later version.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	31	*
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	34	/** \file
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	35	* EtherCAT master state machine.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	36	*/
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "globals.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "master.h"
329 d004349777fc SDO configuration interface, SDO download state machine. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	42	#include "mailbox.h"
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	43	#include "slave_config.h"
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	44	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	45	#include "ethernet.h"
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	46	#endif
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	47
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	48	#include "fsm_master.h"
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	49
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	50	/*****************************************************************************/
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	51
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	52	void ec_fsm_master_state_start(ec_fsm_master_t *);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	53	void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	54	void ec_fsm_master_state_read_state(ec_fsm_master_t *);
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	55	void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	56	void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
717 87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	57	void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	58	void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	59	void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
905 6d74ebc603ee Renamed state sdodict to sdo_dictionary. Florian Pose <fp@igh-essen.com> parents: 904 diff changeset	60	void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	61	void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	62
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	64
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	65	/** Constructor.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	66	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	67	void ec_fsm_master_init(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	68	ec_fsm_master_t fsm, /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	69	ec_master_t master, /< EtherCAT master. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	70	ec_datagram_t datagram /< Datagram object to use. /
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	71	)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	fsm->master = master;
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	74	fsm->datagram = datagram;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	75	fsm->state = ec_fsm_master_state_start;
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	76	fsm->idle = 0;
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	77	fsm->slaves_responding = 0;
553 a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode Florian Pose <fp@igh-essen.com> parents: 538 diff changeset	78	fsm->topology_change_pending = 0;
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	79	fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	81	// init sub-state-machines
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	82	ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	83	ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	84	&fsm->fsm_slave_config, &fsm->fsm_coe_map);
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	85	ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	86	ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	87	ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	88	ec_fsm_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	90
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	92
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	93	/** Destructor.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	94	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	95	void ec_fsm_master_clear(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	96	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	97	)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	{
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	99	// clear sub-state machines
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	100	ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	101	ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	102	ec_fsm_sii_clear(&fsm->fsm_sii);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	103	ec_fsm_change_clear(&fsm->fsm_change);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	104	ec_fsm_coe_clear(&fsm->fsm_coe);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	105	ec_fsm_coe_map_clear(&fsm->fsm_coe_map);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	109
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	110	/** Executes the current state of the state machine.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	111	*
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	112	* If the state machine's datagram is not sent or received yet, the execution
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	113	* of the state machine is delayed to the next cycle.
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	114	*/
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	115	void ec_fsm_master_exec(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	116	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	117	)
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	118	{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	119	if (fsm->datagram->state == EC_DATAGRAM_SENT
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	120	\|\| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	121	// datagram was not sent or received yet.
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	122	return;
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	123	}
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	124
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	125	fsm->state(fsm);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	126	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	127
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	128	/*****************************************************************************/
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	129
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	130	/**
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	131	* \return true, if the state machine is in an idle phase
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	132	*/
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	133	int ec_fsm_master_idle(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	134	const ec_fsm_master_t fsm /< Master state machine. /
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	135	)
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	136	{
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	137	return fsm->idle;
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	138	}
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	139
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	140	/*****************************************************************************/
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	141
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	142	/** Restarts the master state machine.
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	143	*/
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	144	void ec_fsm_master_restart(
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	145	ec_fsm_master_t fsm /< Master state machine. /
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	146	)
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	147	{
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	148	fsm->state = ec_fsm_master_state_start;
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	149	fsm->state(fsm); // execute immediately
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	150	}
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	151
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	/******************************************************************************
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	153	* Master state machine
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	156	/** Master state: START.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	157	*
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	158	* Starts with getting slave count and slave states.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	159	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	160	void ec_fsm_master_state_start(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	161	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	162	)
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	163	{
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	164	fsm->idle = 1;
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	165	ec_datagram_brd(fsm->datagram, 0x0130, 2);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	166	fsm->state = ec_fsm_master_state_broadcast;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	167	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	168
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	169	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	170
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	171	/** Master state: BROADCAST.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	172	*
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	173	* Processes the broadcast read slave count and slaves states.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	174	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	175	void ec_fsm_master_state_broadcast(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	176	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	177	)
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	178	{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	179	ec_datagram_t *datagram = fsm->datagram;
1005 5af7ab9a98b1 Minor change. Florian Pose <fp@igh-essen.com> parents: 1003 diff changeset	180	unsigned int i, size;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	ec_slave_t *slave;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	182	ec_master_t *master = fsm->master;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	183
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	184	if (datagram->state == EC_DATAGRAM_TIMED_OUT)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	185	return; // always retry
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	186
553 a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode Florian Pose <fp@igh-essen.com> parents: 538 diff changeset	187	// bus topology change?
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode Florian Pose <fp@igh-essen.com> parents: 538 diff changeset	188	if (datagram->working_counter != fsm->slaves_responding) {
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode Florian Pose <fp@igh-essen.com> parents: 538 diff changeset	189	fsm->topology_change_pending = 1;
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode Florian Pose <fp@igh-essen.com> parents: 538 diff changeset	190	fsm->slaves_responding = datagram->working_counter;
906 f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	191	EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	192	}
f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	193
f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	194	if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	195	ec_fsm_master_restart(fsm);
906 f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	196	return;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	197	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	198
1021 fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	199	if (fsm->slaves_responding) {
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	200	uint8_t states = EC_READ_U8(datagram->data);
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	201	if (states != fsm->slave_states) { // slave states changed?
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	202	char state_str[EC_STATE_STRING_SIZE];
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	203	fsm->slave_states = states;
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	204	ec_state_string(fsm->slave_states, state_str);
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	205	EC_INFO("Slave states: %s.\n", state_str);
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	206	}
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	207	} else {
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present. Florian Pose <fp@igh-essen.com> parents: 1005 diff changeset	208	fsm->slave_states = 0x00;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	209	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	210
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	211	if (fsm->topology_change_pending) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	212	down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	213	if (!master->allow_scan) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	214	up(&master->scan_sem);
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	215	} else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	216	master->scan_busy = 1;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	217	up(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	218
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	219	// topology change when scan is allowed:
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	220	// clear all slaves and scan the bus
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	221	fsm->topology_change_pending = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	222	fsm->idle = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	223	fsm->scan_jiffies = jiffies;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	224
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	225	#ifdef EC_EOE
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	226	ec_master_eoe_stop(master);
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	227	ec_master_clear_eoe_handlers(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	228	#endif
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	229	ec_master_clear_slaves(master);
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	230
1003 f7cf194d6979 Minor change. Florian Pose <fp@igh-essen.com> parents: 1002 diff changeset	231	master->slave_count = fsm->slaves_responding;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	232
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	233	if (!master->slave_count) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	234	// no slaves present -> finish state machine.
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	235	master->scan_busy = 0;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	236	wake_up_interruptible(&master->scan_queue);
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	237	ec_fsm_master_restart(fsm);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	238	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	239	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	240
1005 5af7ab9a98b1 Minor change. Florian Pose <fp@igh-essen.com> parents: 1003 diff changeset	241	size = sizeof(ec_slave_t) * master->slave_count;
5af7ab9a98b1 Minor change. Florian Pose <fp@igh-essen.com> parents: 1003 diff changeset	242	if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
5af7ab9a98b1 Minor change. Florian Pose <fp@igh-essen.com> parents: 1003 diff changeset	243	EC_ERR("Failed to allocate %u bytes of slave memory!\n",
5af7ab9a98b1 Minor change. Florian Pose <fp@igh-essen.com> parents: 1003 diff changeset	244	size);
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	245	master->slave_count = 0; // FIXME avoid scanning!
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	246	master->scan_busy = 0;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	247	wake_up_interruptible(&master->scan_queue);
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	248	ec_fsm_master_restart(fsm);
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	249	return;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	250	}
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	251
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	252	// init slaves
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	253	for (i = 0; i < master->slave_count; i++) {
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	254	slave = master->slaves + i;
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	255	ec_slave_init(slave, master, i, i + 1);
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	256
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1028 diff changeset	257	// do not force reconfiguration in operation phase to avoid
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	258	// unnecesssary process data interruptions
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1028 diff changeset	259	if (master->phase != EC_OPERATION)
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	260	slave->force_config = 1;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	261	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	262
904 ba6f222aa06e Removed some debugging. Florian Pose <fp@igh-essen.com> parents: 900 diff changeset	263	// broadcast clear all station addresses
717 87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	264	ec_datagram_bwr(datagram, 0x0010, 2);
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	265	EC_WRITE_U16(datagram->data, 0x0000);
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	266	fsm->retries = EC_FSM_RETRIES;
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	267	fsm->state = ec_fsm_master_state_clear_addresses;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	268	return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	269	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	270	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	271
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	272	if (master->slave_count) {
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	273	// fetch state from first slave
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	274	fsm->slave = master->slaves;
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	275	ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	276	0x0130, 2);
853 726326d0aef4 Fixed bug if scanning is not allowed when link goes up. Florian Pose <fp@igh-essen.com> parents: 849 diff changeset	277	fsm->retries = EC_FSM_RETRIES;
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	278	fsm->state = ec_fsm_master_state_read_state;
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	279	} else {
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	280	ec_fsm_master_restart(fsm);
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	281	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	282	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	283
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	284	/*****************************************************************************/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	285
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	286	/** Check for pending SII write requests and process one.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	287	*
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	288	* \return non-zero, if an SII write request is processed.
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	289	*/
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	290	int ec_fsm_master_action_process_sii(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	291	ec_fsm_master_t fsm /< Master state machine. /
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	292	)
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	293	{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	294	ec_master_t *master = fsm->master;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	295	ec_sii_write_request_t *request;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	296
604 74ceacf42710 Fixed possible race with next request pointer again. Florian Pose <fp@igh-essen.com> parents: 603 diff changeset	297	// search the first request to be processed
74ceacf42710 Fixed possible race with next request pointer again. Florian Pose <fp@igh-essen.com> parents: 603 diff changeset	298	while (1) {
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	299	down(&master->sii_sem);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	300	if (list_empty(&master->sii_requests)) {
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	301	up(&master->sii_sem);
604 74ceacf42710 Fixed possible race with next request pointer again. Florian Pose <fp@igh-essen.com> parents: 603 diff changeset	302	break;
74ceacf42710 Fixed possible race with next request pointer again. Florian Pose <fp@igh-essen.com> parents: 603 diff changeset	303	}
74ceacf42710 Fixed possible race with next request pointer again. Florian Pose <fp@igh-essen.com> parents: 603 diff changeset	304	// get first request
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	305	request = list_entry(master->sii_requests.next,
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	306	ec_sii_write_request_t, list);
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	307	list_del_init(&request->list); // dequeue
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	308	request->state = EC_REQUEST_BUSY;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	309	up(&master->sii_sem);
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	310
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	311	// found pending SII write operation. execute it!
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 605 diff changeset	312	if (master->debug_level)
906 f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	313	EC_DBG("Writing SII data to slave %u...\n",
f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	314	request->slave->ring_position);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	315	fsm->sii_request = request;
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	316	fsm->sii_index = 0;
979 405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing. Florian Pose <fp@igh-essen.com> parents: 969 diff changeset	317	ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing. Florian Pose <fp@igh-essen.com> parents: 969 diff changeset	318	request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	319	fsm->state = ec_fsm_master_state_write_sii;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	320	fsm->state(fsm); // execute immediately
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	321	return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	322	}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	323
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	324	return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	325	}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	326
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	327	/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	328
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	329	/** Check for pending Sdo requests and process one.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	330	*
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 794 diff changeset	331	* \return non-zero, if an Sdo request is processed.
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	332	*/
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	333	int ec_fsm_master_action_process_sdo(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	334	ec_fsm_master_t fsm /< Master state machine. /
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	335	)
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	336	{
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	337	ec_master_t *master = fsm->master;
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	338	ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	339	ec_sdo_request_t *req;
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	340	ec_master_sdo_request_t *request;
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	341
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	342	// search for internal requests to be processed
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	343	for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	344	slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	345	slave++) {
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	346	if (!slave->config)
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	347	continue;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	348	list_for_each_entry(req, &slave->config->sdo_requests, list) {
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	349	if (req->state == EC_REQUEST_QUEUED) {
880 f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	350
f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	351	if (ec_sdo_request_timed_out(req)) {
f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	352	req->state = EC_REQUEST_FAILURE;
f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	353	if (master->debug_level)
f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	354	EC_DBG("Sdo request for slave %u timed out...\n",
f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	355	slave->ring_position);
f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	356	continue;
f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	357	}
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	358
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	359	if (slave->current_state == EC_SLAVE_STATE_INIT) {
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	360	req->state = EC_REQUEST_FAILURE;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	361	continue;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	362	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	363
880 f6212c54a5e3 Implemented Sdo timeout. Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	364	req->state = EC_REQUEST_BUSY;
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	365	if (master->debug_level)
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	366	EC_DBG("Processing Sdo request for slave %u...\n",
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	367	slave->ring_position);
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	368
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	369	fsm->idle = 0;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	370	fsm->sdo_request = req;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	371	fsm->slave = slave;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	372	fsm->state = ec_fsm_master_state_sdo_request;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	373	ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	374	ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	375	return 1;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	376	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	377	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	378	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	379
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	380	// search the first external request to be processed
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	381	while (1) {
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	382	down(&master->sdo_sem);
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	383	if (list_empty(&master->slave_sdo_requests)) {
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	384	up(&master->sdo_sem);
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	385	break;
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	386	}
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	387	// get first request
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	388	request = list_entry(master->slave_sdo_requests.next,
4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	389	ec_master_sdo_request_t, list);
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	390	list_del_init(&request->list); // dequeue
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	391	request->req.state = EC_REQUEST_BUSY;
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	392	up(&master->sdo_sem);
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	393
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	394	slave = request->slave;
969 e259df107c92 process Sdo requests even with error_flag set. Florian Pose <fp@igh-essen.com> parents: 930 diff changeset	395	if (slave->current_state == EC_SLAVE_STATE_INIT) {
e259df107c92 process Sdo requests even with error_flag set. Florian Pose <fp@igh-essen.com> parents: 930 diff changeset	396	EC_ERR("Discarding Sdo request, slave %u is in INIT.\n",
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	397	slave->ring_position);
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	398	request->req.state = EC_REQUEST_FAILURE;
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	399	wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	400	continue;
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	401	}
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	402
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	403	// Found pending Sdo request. Execute it!
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	404	if (master->debug_level)
906 f95e3e33c0cf Removed slave online flag. Florian Pose <fp@igh-essen.com> parents: 905 diff changeset	405	EC_DBG("Processing Sdo request for slave %u...\n",
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	406	slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	407
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	408	// Start uploading Sdo
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	409	fsm->idle = 0;
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	410	fsm->sdo_request = &request->req;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	411	fsm->slave = slave;
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	412	fsm->state = ec_fsm_master_state_sdo_request;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	413	ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	414	ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	415	return 1;
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	416	}
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	417
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	418	return 0;
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	419	}
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	420
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	421	/*****************************************************************************/
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	422
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	423	/** Master action: IDLE.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	424	*
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	425	* Does secondary work.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	426	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	427	void ec_fsm_master_action_idle(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	428	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	429	)
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	430	{
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	431	ec_master_t *master = fsm->master;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	432	ec_slave_t *slave;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	433
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	434	// Check for pending Sdo requests
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	435	if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	436	return;
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	437
910 9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	438	// check, if slaves have an Sdo dictionary to read out.
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	439	for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	440	slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	441	slave++) {
910 9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	442	if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
442 6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	443	\|\| slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	444	\|\| slave->current_state == EC_SLAVE_STATE_INIT
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	445	\|\| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	446	) continue;
442 6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	447
910 9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	448	if (master->debug_level) {
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	449	EC_DBG("Fetching Sdo dictionary from slave %u.\n",
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	450	slave->ring_position);
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 437 diff changeset	451	}
442 6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	452
910 9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	453	slave->sdo_dictionary_fetched = 1;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	454
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	455	// start fetching Sdo dictionary
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	456	fsm->idle = 0;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	457	fsm->slave = slave;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	458	fsm->state = ec_fsm_master_state_sdo_dictionary;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	459	ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	460	ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	461	return;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	462	}
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	463
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	464	// check for pending SII write operations.
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	465	if (ec_fsm_master_action_process_sii(fsm))
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	466	return; // SII write request found
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	467
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	468	ec_fsm_master_restart(fsm);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	469	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	470
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	471	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	472
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	473	/** Master action: Get state of next slave.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	474	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	475	void ec_fsm_master_action_next_slave_state(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	476	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	477	)
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	478	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	479	ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	480
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	481	// is there another slave to query?
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	482	fsm->slave++;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	483	if (fsm->slave < master->slaves + master->slave_count) {
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	484	// fetch state from next slave
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 649 diff changeset	485	fsm->idle = 1;
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	486	ec_datagram_fprd(fsm->datagram,
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	487	fsm->slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	488	fsm->retries = EC_FSM_RETRIES;
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	489	fsm->state = ec_fsm_master_state_read_state;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	490	return;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	491	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	492
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	493	// all slaves processed
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	494	ec_fsm_master_action_idle(fsm);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	495	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	496
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	497	/*****************************************************************************/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	498
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	499	/** Master action: Configure.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	500	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	501	void ec_fsm_master_action_configure(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	502	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	503	)
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	504	{
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	505	ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	506	ec_slave_t *slave = fsm->slave;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	507
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	508	// Does the slave have to be configured?
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	509	if ((slave->current_state != slave->requested_state
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	510	\|\| slave->force_config) && !slave->error_flag) {
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	511	// Start slave configuration, if it is allowed.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	512	down(&master->config_sem);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	513	if (!master->allow_config) {
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	514	up(&master->config_sem);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	515	} else {
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	516	master->config_busy = 1;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	517	up(&master->config_sem);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	518
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	519	if (master->debug_level) {
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	520	char old_state[EC_STATE_STRING_SIZE],
386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	521	new_state[EC_STATE_STRING_SIZE];
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	522	ec_state_string(slave->current_state, old_state);
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	523	ec_state_string(slave->requested_state, new_state);
386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	524	EC_DBG("Changing state of slave %u from %s to %s%s.\n",
386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	525	slave->ring_position, old_state, new_state,
386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	526	slave->force_config ? " (forced)" : "");
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	527	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	528
908 386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	529	// configuration will be done immediately; therefore reset the
386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	530	// force flag
386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	531	slave->force_config = 0;
386b908033be Replaced self_configured flag with force_config flag. Florian Pose <fp@igh-essen.com> parents: 907 diff changeset	532
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	533	fsm->idle = 0;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	534	fsm->state = ec_fsm_master_state_configure_slave;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	535	ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	536	fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	537	return;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	538	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	539	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	540
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	541	// slave has error flag set; process next one
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	542	ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	543	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	544
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	545	/*****************************************************************************/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	546
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	547	/** Master state: READ STATE.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	548	*
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	549	* Fetches the AL state of a slave.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	550	*/
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	551	void ec_fsm_master_state_read_state(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	552	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	553	)
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	554	{
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	555	ec_slave_t *slave = fsm->slave;
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	556	ec_datagram_t *datagram = fsm->datagram;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	557
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	558	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	559	return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	560
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	561	if (datagram->state != EC_DATAGRAM_RECEIVED) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	562	EC_ERR("Failed to receive AL state datagram for slave %u"
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	563	" (datagram state %u)\n",
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	564	slave->ring_position, datagram->state);
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	565	ec_fsm_master_restart(fsm);
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	566	return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	567	}
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	568
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	569	// did the slave not respond to its station address?
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	570	if (datagram->working_counter != 1) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	571	if (!slave->error_flag) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	572	slave->error_flag = 1;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	573	if (fsm->master->debug_level)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	574	EC_DBG("Slave %u did not respond to state query.\n",
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	575	fsm->slave->ring_position);
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	576	}
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	577	fsm->topology_change_pending = 1;
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	578	ec_fsm_master_restart(fsm);
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	579	return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	580	}
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	581
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	582	// A single slave responded
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	583	ec_slave_set_state(slave, EC_READ_U8(datagram->data));
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	584
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	585	if (!slave->error_flag) {
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	586	// Check, if new slave state has to be acknowledged
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	587	if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	588	fsm->idle = 0;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	589	fsm->state = ec_fsm_master_state_acknowledge;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	590	ec_fsm_change_ack(&fsm->fsm_change, slave);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	591	fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	592	return;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	593	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	594
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	595	// No acknowlegde necessary; check for configuration
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	596	ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	597	return;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	598	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	599
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	600	// slave has error flag set; process next one
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	601	ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	602	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	603
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	604	/*****************************************************************************/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	605
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	606	/** Master state: ACKNOWLEDGE.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	607	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	608	void ec_fsm_master_state_acknowledge(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	609	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	610	)
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	611	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	612	ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	613
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	614	if (ec_fsm_change_exec(&fsm->fsm_change))
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	615	return;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	616
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	617	if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	618	fsm->slave->error_flag = 1;
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	619	EC_ERR("Failed to acknowledge state change on slave %u.\n",
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	620	slave->ring_position);
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	621	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	622
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	623	ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	624	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	625
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	626	/*****************************************************************************/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	627
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	628	/** Master state: CLEAR ADDRESSES.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	629	*/
717 87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	630	void ec_fsm_master_state_clear_addresses(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	631	ec_fsm_master_t fsm /< Master state machine. /
717 87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	632	)
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	633	{
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	634	ec_master_t *master = fsm->master;
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	635	ec_datagram_t *datagram = fsm->datagram;
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	636
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	637	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	638	return;
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	639
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	640	if (datagram->state != EC_DATAGRAM_RECEIVED) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	641	EC_ERR("Failed to receive address clearing datagram (state %u).\n",
717 87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	642	datagram->state);
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	643	master->scan_busy = 0;
794 684dea874956 Allow bus configuration when link is down. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	644	wake_up_interruptible(&master->scan_queue);
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	645	ec_fsm_master_restart(fsm);
717 87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	646	return;
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	647	}
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	648
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	649	if (datagram->working_counter != master->slave_count) {
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	650	EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	651	datagram->working_counter, master->slave_count);
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	652	}
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	653
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	654	EC_INFO("Scanning bus.\n");
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	655
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	656	// begin scanning of slaves
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	657	fsm->slave = master->slaves;
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	658	fsm->state = ec_fsm_master_state_scan_slave;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	659	ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	660	ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
717 87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	661	}
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	662
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	663	/*****************************************************************************/
87abf1166e88 Clear station addresses with broadcast before setting them. Florian Pose <fp@igh-essen.com> parents: 716 diff changeset	664
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	665	/** Master state: SCAN SLAVE.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	666	*
652 15cff76b66c7 Added scan time output. Florian Pose <fp@igh-essen.com> parents: 650 diff changeset	667	* Executes the sub-statemachine for the scanning of a slave.
15cff76b66c7 Added scan time output. Florian Pose <fp@igh-essen.com> parents: 650 diff changeset	668	*/
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	669	void ec_fsm_master_state_scan_slave(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	670	ec_fsm_master_t fsm /< Master state machine. /
652 15cff76b66c7 Added scan time output. Florian Pose <fp@igh-essen.com> parents: 650 diff changeset	671	)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	672	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	673	ec_master_t *master = fsm->master;
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	674	ec_slave_t *slave = fsm->slave;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	675
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	676	if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 523 diff changeset	677	return;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	678
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	679	#ifdef EC_EOE
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	680	if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	681	// create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	682	ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	683	if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	684	EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	685	slave->ring_position);
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	686	} else if (ec_eoe_init(eoe, slave)) {
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	687	EC_ERR("Failed to init EoE handler for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	688	slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	689	kfree(eoe);
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	690	} else {
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	691	list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	692	}
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	693	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	694	#endif
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	695
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	696	// another slave to fetch?
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	697	fsm->slave++;
1002 0e1aaeb3540d Fixed bug in slave scanning, causing a segmentation fault. Florian Pose <fp@igh-essen.com> parents: 1000 diff changeset	698	if (fsm->slave < master->slaves + master->slave_count) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	699	ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	700	ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	701	return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	702	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	703
652 15cff76b66c7 Added scan time output. Florian Pose <fp@igh-essen.com> parents: 650 diff changeset	704	EC_INFO("Bus scanning completed in %u ms.\n",
15cff76b66c7 Added scan time output. Florian Pose <fp@igh-essen.com> parents: 650 diff changeset	705	(u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	706
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	707	master->scan_busy = 0;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	708	wake_up_interruptible(&master->scan_queue);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	709
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	710	// Attach slave configurations
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	711	ec_master_attach_slave_configs(master);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	712
716 ac2a81a33d3d Minor fix. Florian Pose <fp@igh-essen.com> parents: 715 diff changeset	713	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	714	// check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	715	ec_master_eoe_start(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	716	#endif
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	717
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	718	ec_fsm_master_restart(fsm);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	719	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	720
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	721	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	722
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	723	/** Master state: CONFIGURE SLAVE.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	724	*
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	725	* Starts configuring a slave.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	726	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	727	void ec_fsm_master_state_configure_slave(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	728	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	729	)
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	730	{
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	731	ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	732
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	733	if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	734	return;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	735
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	736	// configuration finished
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	737	master->config_busy = 0;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	738	wake_up_interruptible(&master->config_queue);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	739
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	740	if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	741	// TODO: mark slave_config as failed.
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 880 diff changeset	742	}
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 652 diff changeset	743
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	744	fsm->idle = 1;
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	745	ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	746	}
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	747
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	748	/*****************************************************************************/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	749
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	750	/** Master state: WRITE SII.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	751	*/
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	752	void ec_fsm_master_state_write_sii(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	753	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	754	)
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	755	{
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	756	ec_master_t *master = fsm->master;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	757	ec_sii_write_request_t *request = fsm->sii_request;
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	758	ec_slave_t *slave = request->slave;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	759
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	760	if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	761
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	762	if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	763	EC_ERR("Failed to write SII data to slave %u.\n",
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 605 diff changeset	764	slave->ring_position);
649 a4d3fffdaed7 Renamed names of enum type ec_request_state_t. Florian Pose <fp@igh-essen.com> parents: 646 diff changeset	765	request->state = EC_REQUEST_FAILURE;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	766	wake_up(&master->sii_queue);
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	767	ec_fsm_master_restart(fsm);
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	768	return;
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	769	}
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	770
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	771	fsm->sii_index++;
979 405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing. Florian Pose <fp@igh-essen.com> parents: 969 diff changeset	772	if (fsm->sii_index < request->nwords) {
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	773	ec_fsm_sii_write(&fsm->fsm_sii, slave,
979 405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing. Florian Pose <fp@igh-essen.com> parents: 969 diff changeset	774	request->offset + fsm->sii_index,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing. Florian Pose <fp@igh-essen.com> parents: 969 diff changeset	775	request->words + fsm->sii_index,
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	776	EC_FSM_SII_USE_CONFIGURED_ADDRESS);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	777	ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	778	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	779	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	780
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	781	// finished writing SII
607 7b1daa325c5f Implemented alias reading/writing via sysfs. Florian Pose <fp@igh-essen.com> parents: 605 diff changeset	782	if (master->debug_level)
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	783	EC_DBG("Finished writing %u words of SII data to slave %u.\n",
979 405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing. Florian Pose <fp@igh-essen.com> parents: 969 diff changeset	784	request->nwords, slave->ring_position);
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	785	request->state = EC_REQUEST_SUCCESS;
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	786	wake_up(&master->sii_queue);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	787
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	788	// TODO: Evaluate new SII contents!
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	789
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	790	// check for another SII write request
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	791	if (ec_fsm_master_action_process_sii(fsm))
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	792	return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	793
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	794	ec_fsm_master_restart(fsm);
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	795	}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	796
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	797	/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	798
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	799	/** Master state: SDO DICTIONARY.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	800	*/
905 6d74ebc603ee Renamed state sdodict to sdo_dictionary. Florian Pose <fp@igh-essen.com> parents: 904 diff changeset	801	void ec_fsm_master_state_sdo_dictionary(
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	802	ec_fsm_master_t fsm /< Master state machine. /
905 6d74ebc603ee Renamed state sdodict to sdo_dictionary. Florian Pose <fp@igh-essen.com> parents: 904 diff changeset	803	)
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	804	{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	805	ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	806	ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	807
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	808	if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	809
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	810	if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	811	ec_fsm_master_restart(fsm);
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	812	return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	813	}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	814
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 794 diff changeset	815	// Sdo dictionary fetching finished
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	816
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	817	if (master->debug_level) {
423 862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 422 diff changeset	818	unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 422 diff changeset	819	ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
910 9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	820	EC_DBG("Fetched %u Sdos and %u entries from slave %u.\n",
423 862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 422 diff changeset	821	sdo_count, entry_count, slave->ring_position);
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	822	}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	823
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	824	ec_fsm_master_restart(fsm);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	825	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	826
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	827	/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	828
907 570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	829	/** Master state: SDO REQUEST.
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	830	*/
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	831	void ec_fsm_master_state_sdo_request(
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	832	ec_fsm_master_t fsm /< Master state machine. /
570ae1c64465 Improved master state machine. Florian Pose <fp@igh-essen.com> parents: 906 diff changeset	833	)
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	834	{
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	835	ec_master_t *master = fsm->master;
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	836	ec_sdo_request_t *request = fsm->sdo_request;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	837
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	838	if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	839
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	840	if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	841	EC_DBG("Failed to process Sdo request for slave %u.\n",
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	842	fsm->slave->ring_position);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	843	request->state = EC_REQUEST_FAILURE;
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	844	wake_up(&master->sdo_queue);
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	845	ec_fsm_master_restart(fsm);
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	846	return;
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	847	}
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	848
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 794 diff changeset	849	// Sdo request finished
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	850	request->state = EC_REQUEST_SUCCESS;
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	851	wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	852
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	853	if (master->debug_level)
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 853 diff changeset	854	EC_DBG("Finished Sdo request for slave %u.\n",
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	855	fsm->slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	856
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 794 diff changeset	857	// check for another Sdo request
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	858	if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 645 diff changeset	859	return; // processing another request
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	860
1031 000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	861	ec_fsm_master_restart(fsm);
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	862	}
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	863
000593b576dd Removed 'end' and 'error' states from master state machine. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	864	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 18 Jun 2008 13:53:31 +0000
changeset 1031	000593b576dd
parent 1029	61ffe5f22306
child 1064	5f27403587a8
permissions	-rw-r--r--