author | Florian Pose <fp@igh-essen.com> |
Tue, 04 Sep 2012 14:19:06 +0200 | |
changeset 2411 | 01370d59233d |
parent 2044 | 1ae0491b2f6b |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
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Separated slave state machines.
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave state machines. |
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*/ |
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/*****************************************************************************/ |
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#include "globals.h" |
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#include "master.h" |
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#include "mailbox.h" |
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#include "slave_config.h" |
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#include "fsm_slave_scan.h" |
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/*****************************************************************************/ |
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_state(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_dc_cap(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *); |
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#ifdef EC_REGALIAS |
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void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *); |
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#endif |
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void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *); |
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#ifdef EC_REGALIAS |
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void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *); |
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#endif |
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void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *); |
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/*****************************************************************************/ |
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/** Constructor. |
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*/ |
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void ec_fsm_slave_scan_init( |
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ec_fsm_slave_scan_t *fsm, /**< Slave scanning state machine. */ |
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ec_datagram_t *datagram, /**< Datagram to use. */ |
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ec_fsm_slave_config_t *fsm_slave_config, /**< Slave configuration |
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state machine to use. */ |
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ec_fsm_pdo_t *fsm_pdo /**< PDO configuration machine to use. */ |
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) |
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{ |
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fsm->datagram = datagram; |
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fsm->fsm_slave_config = fsm_slave_config; |
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fsm->fsm_pdo = fsm_pdo; |
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// init sub state machines |
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ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram); |
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} |
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/*****************************************************************************/ |
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/** Destructor. |
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*/ |
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void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
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{ |
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// clear sub state machines |
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ec_fsm_sii_clear(&fsm->fsm_sii); |
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} |
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/*****************************************************************************/ |
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/** |
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* Start slave scan state machine. |
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*/ |
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void ec_fsm_slave_scan_start( |
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ec_fsm_slave_scan_t *fsm, /**< slave state machine */ |
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ec_slave_t *slave /**< slave to configure */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->state = ec_fsm_slave_scan_state_start; |
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} |
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Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
116 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
117 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
118 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
119 |
/** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
120 |
\return false, if state machine has terminated |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
121 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
122 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
123 |
int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
124 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
125 |
return fsm->state != ec_fsm_slave_scan_state_end |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
126 |
&& fsm->state != ec_fsm_slave_scan_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
127 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
128 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
129 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
130 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
131 |
/** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
132 |
Executes the current state of the state machine. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
133 |
If the state machine's datagram is not sent or received yet, the execution |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
134 |
of the state machine is delayed to the next cycle. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
135 |
\return false, if state machine has terminated |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
137 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
{ |
2044
1ae0491b2f6b
fixed race condition when comparing datagram state
Martin Troxler <ch1010277@ch10pc446>
parents:
1958
diff
changeset
|
140 |
if (fsm->datagram->state == EC_DATAGRAM_QUEUED |
1ae0491b2f6b
fixed race condition when comparing datagram state
Martin Troxler <ch1010277@ch10pc446>
parents:
1958
diff
changeset
|
141 |
|| fsm->datagram->state == EC_DATAGRAM_SENT) { |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
// datagram was not sent or received yet. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
return ec_fsm_slave_scan_running(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
fsm->state(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
return ec_fsm_slave_scan_running(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
150 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
151 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
152 |
/** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
\return true, if the state machine terminated gracefully |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
154 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
156 |
int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
return fsm->state == ec_fsm_slave_scan_state_end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
/****************************************************************************** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
* slave scan state machine |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
/** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
Slave scan state: START. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
First state of the slave state machine. Writes the station address to the |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
slave, according to its ring position. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
// write station address |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
fsm->retries = EC_FSM_RETRIES; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
fsm->state = ec_fsm_slave_scan_state_address; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
/** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
Slave scan state: ADDRESS. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
|
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
186 |
void ec_fsm_slave_scan_state_address( |
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
187 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
188 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 197 |
EC_SLAVE_ERR(fsm->slave, |
198 |
"Failed to receive station address datagram: "); |
|
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
199 |
ec_datagram_print_state(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
if (datagram->working_counter != 1) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 206 |
EC_SLAVE_ERR(fsm->slave, "Failed to write station address: "); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
ec_datagram_print_wc_error(datagram); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
// Read AL state |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
213 |
ec_datagram_zero(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
fsm->retries = EC_FSM_RETRIES; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
fsm->state = ec_fsm_slave_scan_state_state; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
/** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
221 |
Slave scan state: STATE. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
void ec_fsm_slave_scan_state_state( |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 236 |
EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
237 |
ec_datagram_print_state(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
if (datagram->working_counter != 1) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
242 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 244 |
EC_SLAVE_ERR(slave, "Failed to read AL state: "); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
245 |
ec_datagram_print_wc_error(datagram); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
246 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
247 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
248 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
249 |
slave->current_state = EC_READ_U8(datagram->data); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
250 |
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
char state_str[EC_STATE_STRING_SIZE]; |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
252 |
ec_state_string(slave->current_state, state_str, 0); |
1921 | 253 |
EC_SLAVE_WARN(slave, "Slave has state error bit set (%s)!\n", |
254 |
state_str); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
255 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
256 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
257 |
// read base data |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
258 |
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 12); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
259 |
ec_datagram_zero(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
fsm->retries = EC_FSM_RETRIES; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
261 |
fsm->state = ec_fsm_slave_scan_state_base; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
|
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
266 |
/** Slave scan state: BASE. |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
267 |
*/ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
268 |
void ec_fsm_slave_scan_state_base( |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
269 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
270 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
271 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
272 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
ec_slave_t *slave = fsm->slave; |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
274 |
u8 octet; |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
275 |
int i; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
276 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
277 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
278 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
279 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
280 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
281 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 282 |
EC_SLAVE_ERR(slave, "Failed to receive base data datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
283 |
ec_datagram_print_state(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
286 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
if (datagram->working_counter != 1) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
289 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 290 |
EC_SLAVE_ERR(slave, "Failed to read base data: "); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
291 |
ec_datagram_print_wc_error(datagram); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
292 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
293 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
slave->base_type = EC_READ_U8 (datagram->data); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
slave->base_revision = EC_READ_U8 (datagram->data + 1); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
slave->base_build = EC_READ_U16(datagram->data + 2); |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
298 |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
299 |
slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
if (slave->base_fmmu_count > EC_MAX_FMMUS) { |
1921 | 301 |
EC_SLAVE_WARN(slave, "Slave has more FMMUs (%u) than the master can" |
302 |
" handle (%u).\n", slave->base_fmmu_count, EC_MAX_FMMUS); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
303 |
slave->base_fmmu_count = EC_MAX_FMMUS; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
|
1470 | 306 |
slave->base_sync_count = EC_READ_U8(datagram->data + 5); |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
307 |
if (slave->base_sync_count > EC_MAX_SYNC_MANAGERS) { |
1921 | 308 |
EC_SLAVE_WARN(slave, "Slave provides more sync managers (%u)" |
309 |
" than the master can handle (%u).\n", |
|
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
310 |
slave->base_sync_count, EC_MAX_SYNC_MANAGERS); |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
311 |
slave->base_sync_count = EC_MAX_SYNC_MANAGERS; |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
312 |
} |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
313 |
|
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
314 |
octet = EC_READ_U8(datagram->data + 7); |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
315 |
for (i = 0; i < EC_MAX_PORTS; i++) { |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1420
diff
changeset
|
316 |
slave->ports[i].desc = (octet >> (2 * i)) & 0x03; |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
317 |
} |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
318 |
|
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
319 |
octet = EC_READ_U8(datagram->data + 8); |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
320 |
slave->base_fmmu_bit_operation = octet & 0x01; |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
321 |
slave->base_dc_supported = (octet >> 2) & 0x01; |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
322 |
slave->base_dc_range = ((octet >> 3) & 0x01) ? EC_DC_64 : EC_DC_32; |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
323 |
|
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
324 |
if (slave->base_dc_supported) { |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
325 |
// read DC capabilities |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
326 |
ec_datagram_fprd(datagram, slave->station_address, 0x0910, |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
327 |
slave->base_dc_range == EC_DC_64 ? 8 : 4); |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
328 |
ec_datagram_zero(datagram); |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
329 |
fsm->retries = EC_FSM_RETRIES; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
330 |
fsm->state = ec_fsm_slave_scan_state_dc_cap; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
331 |
} else { |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
332 |
ec_fsm_slave_scan_enter_datalink(fsm); |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
333 |
} |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
334 |
} |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
335 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
336 |
/*****************************************************************************/ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
337 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
338 |
/** |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
339 |
Slave scan state: DC CAPABILITIES. |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
340 |
*/ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
341 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
342 |
void ec_fsm_slave_scan_state_dc_cap( |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
343 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
344 |
) |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
345 |
{ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
346 |
ec_datagram_t *datagram = fsm->datagram; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
347 |
ec_slave_t *slave = fsm->slave; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
348 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
349 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
350 |
return; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
351 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
352 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
353 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 354 |
EC_SLAVE_ERR(slave, "Failed to receive system time datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
355 |
ec_datagram_print_state(datagram); |
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
356 |
return; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
357 |
} |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
358 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
359 |
if (datagram->working_counter == 1) { |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
360 |
slave->has_dc_system_time = 1; |
1921 | 361 |
EC_SLAVE_DBG(slave, 1, "Slave has the System Time register.\n"); |
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
362 |
} else if (datagram->working_counter == 0) { |
1921 | 363 |
EC_SLAVE_DBG(slave, 1, "Slave has no System Time register; delay " |
364 |
"measurement only.\n"); |
|
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
365 |
} else { |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
366 |
fsm->slave->error_flag = 1; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
367 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 368 |
EC_SLAVE_ERR(slave, "Failed to determine, if system time register is " |
369 |
"supported: "); |
|
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
370 |
ec_datagram_print_wc_error(datagram); |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
371 |
return; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
372 |
} |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
373 |
|
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
374 |
// read DC port receive times |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
375 |
ec_datagram_fprd(datagram, slave->station_address, 0x0900, 16); |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
376 |
ec_datagram_zero(datagram); |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
377 |
fsm->retries = EC_FSM_RETRIES; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
378 |
fsm->state = ec_fsm_slave_scan_state_dc_times; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
379 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
380 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
381 |
/*****************************************************************************/ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
382 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
383 |
/** |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
384 |
Slave scan state: DC TIMES. |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
385 |
*/ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
386 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
387 |
void ec_fsm_slave_scan_state_dc_times( |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
388 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
389 |
) |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
390 |
{ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
391 |
ec_datagram_t *datagram = fsm->datagram; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
392 |
ec_slave_t *slave = fsm->slave; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
393 |
int i; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
394 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
395 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
396 |
return; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
397 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
398 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
399 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 400 |
EC_SLAVE_ERR(slave, "Failed to receive system time datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
401 |
ec_datagram_print_state(datagram); |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
402 |
return; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
403 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
404 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
405 |
if (datagram->working_counter != 1) { |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
406 |
fsm->slave->error_flag = 1; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
407 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 408 |
EC_SLAVE_ERR(slave, "Failed to get DC receive times: "); |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
409 |
ec_datagram_print_wc_error(datagram); |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
410 |
return; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
411 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
412 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
413 |
for (i = 0; i < EC_MAX_PORTS; i++) { |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1420
diff
changeset
|
414 |
slave->ports[i].receive_time = EC_READ_U32(datagram->data + 4 * i); |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
415 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
416 |
|
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
417 |
ec_fsm_slave_scan_enter_datalink(fsm); |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
418 |
} |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
419 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
420 |
/*****************************************************************************/ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
421 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
422 |
/** |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
423 |
Slave scan entry function: DATALINK. |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
424 |
*/ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
425 |
|
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
426 |
void ec_fsm_slave_scan_enter_datalink( |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
427 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
428 |
) |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
429 |
{ |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
430 |
ec_datagram_t *datagram = fsm->datagram; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
431 |
ec_slave_t *slave = fsm->slave; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
432 |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
// read data link status |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
435 |
ec_datagram_zero(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
436 |
fsm->retries = EC_FSM_RETRIES; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
437 |
fsm->state = ec_fsm_slave_scan_state_datalink; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
439 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
440 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
441 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
/** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
443 |
Slave scan state: DATALINK. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
444 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
445 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
446 |
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
447 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
448 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
449 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
uint16_t dl_status; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
unsigned int i; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
452 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
453 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
454 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
455 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 458 |
EC_SLAVE_ERR(slave, "Failed to receive DL status datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
459 |
ec_datagram_print_state(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
460 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
461 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
462 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
463 |
if (datagram->working_counter != 1) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
464 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
465 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 466 |
EC_SLAVE_ERR(slave, "Failed to read DL status: "); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
467 |
ec_datagram_print_wc_error(datagram); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
468 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
469 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
470 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
471 |
dl_status = EC_READ_U16(datagram->data); |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1000
diff
changeset
|
472 |
for (i = 0; i < EC_MAX_PORTS; i++) { |
1921 | 473 |
slave->ports[i].link.link_up = |
474 |
dl_status & (1 << (4 + i)) ? 1 : 0; |
|
475 |
slave->ports[i].link.loop_closed = |
|
476 |
dl_status & (1 << (8 + i * 2)) ? 1 : 0; |
|
477 |
slave->ports[i].link.signal_detected = |
|
478 |
dl_status & (1 << (9 + i * 2)) ? 1 : 0; |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
479 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
480 |
|
872 | 481 |
// Start fetching SII size |
482 |
||
483 |
fsm->sii_offset = EC_FIRST_SII_CATEGORY_OFFSET; // first category header |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
484 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
485 |
EC_FSM_SII_USE_CONFIGURED_ADDRESS); |
872 | 486 |
fsm->state = ec_fsm_slave_scan_state_sii_size; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
487 |
fsm->state(fsm); // execute state immediately |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
488 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
489 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
490 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
491 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
492 |
/** |
872 | 493 |
Slave scan state: SII SIZE. |
494 |
*/ |
|
495 |
||
496 |
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
497 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
498 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
499 |
uint16_t cat_type, cat_size; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
500 |
|
1951 | 501 |
if (ec_fsm_sii_exec(&fsm->fsm_sii)) |
502 |
return; |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
503 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
504 |
if (!ec_fsm_sii_success(&fsm->fsm_sii)) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
505 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
506 |
fsm->state = ec_fsm_slave_scan_state_error; |
1951 | 507 |
EC_SLAVE_ERR(slave, "Failed to determine SII content size:" |
1958
7dceb43bd855
Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents:
1951
diff
changeset
|
508 |
" Reading word offset 0x%04x failed. Assuming %u words.\n", |
7dceb43bd855
Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents:
1951
diff
changeset
|
509 |
fsm->sii_offset, EC_FIRST_SII_CATEGORY_OFFSET); |
7dceb43bd855
Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents:
1951
diff
changeset
|
510 |
slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET; |
7dceb43bd855
Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents:
1951
diff
changeset
|
511 |
goto alloc_sii; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
512 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
513 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
514 |
cat_type = EC_READ_U16(fsm->fsm_sii.value); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
515 |
cat_size = EC_READ_U16(fsm->fsm_sii.value + 2); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
516 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
517 |
if (cat_type != 0xFFFF) { // not the last category |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
518 |
off_t next_offset = 2UL + fsm->sii_offset + cat_size; |
872 | 519 |
if (next_offset >= EC_MAX_SII_SIZE) { |
1921 | 520 |
EC_SLAVE_WARN(slave, "SII size exceeds %u words" |
521 |
" (0xffff limiter missing?).\n", EC_MAX_SII_SIZE); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
522 |
// cut off category data... |
977 | 523 |
slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET; |
872 | 524 |
goto alloc_sii; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
525 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
526 |
fsm->sii_offset = next_offset; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
527 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
528 |
EC_FSM_SII_USE_CONFIGURED_ADDRESS); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
529 |
ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
530 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
531 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
532 |
|
977 | 533 |
slave->sii_nwords = fsm->sii_offset + 1; |
872 | 534 |
|
535 |
alloc_sii: |
|
977 | 536 |
if (slave->sii_words) { |
1921 | 537 |
EC_SLAVE_WARN(slave, "Freeing old SII data...\n"); |
977 | 538 |
kfree(slave->sii_words); |
539 |
} |
|
540 |
||
541 |
if (!(slave->sii_words = |
|
998
05a24788f3b2
Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
542 |
(uint16_t *) kmalloc(slave->sii_nwords * 2, GFP_KERNEL))) { |
1921 | 543 |
EC_SLAVE_ERR(slave, "Failed to allocate %zu words of SII data.\n", |
544 |
slave->sii_nwords); |
|
977 | 545 |
slave->sii_nwords = 0; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
546 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
547 |
fsm->state = ec_fsm_slave_scan_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
548 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
549 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
550 |
|
872 | 551 |
// Start fetching SII contents |
552 |
||
553 |
fsm->state = ec_fsm_slave_scan_state_sii_data; |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
554 |
fsm->sii_offset = 0x0000; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
555 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
556 |
EC_FSM_SII_USE_CONFIGURED_ADDRESS); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
557 |
ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
558 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
559 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
560 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
561 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
562 |
/** |
872 | 563 |
Slave scan state: SII DATA. |
564 |
*/ |
|
565 |
||
566 |
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state machine */) |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
567 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
568 |
ec_slave_t *slave = fsm->slave; |
977 | 569 |
uint16_t *cat_word, cat_type, cat_size; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
570 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
571 |
if (ec_fsm_sii_exec(&fsm->fsm_sii)) return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
572 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
573 |
if (!ec_fsm_sii_success(&fsm->fsm_sii)) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
574 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
575 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 576 |
EC_SLAVE_ERR(slave, "Failed to fetch SII contents.\n"); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
577 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
578 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
579 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
580 |
// 2 words fetched |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
581 |
|
977 | 582 |
if (fsm->sii_offset + 2 <= slave->sii_nwords) { // 2 words fit |
583 |
memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 4); |
|
584 |
} else { // copy the last word |
|
585 |
memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 2); |
|
586 |
} |
|
587 |
||
588 |
if (fsm->sii_offset + 2 < slave->sii_nwords) { |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
589 |
// fetch the next 2 words |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
590 |
fsm->sii_offset += 2; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
591 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
592 |
EC_FSM_SII_USE_CONFIGURED_ADDRESS); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
593 |
ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
594 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
595 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
596 |
|
872 | 597 |
// Evaluate SII contents |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
598 |
|
870
fbd5924690ee
Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents:
841
diff
changeset
|
599 |
ec_slave_clear_sync_managers(slave); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
600 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
601 |
slave->sii.alias = |
977 | 602 |
EC_READ_U16(slave->sii_words + 0x0004); |
1909
ea3eb4c74c1b
Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents:
1822
diff
changeset
|
603 |
slave->effective_alias = slave->sii.alias; |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
604 |
slave->sii.vendor_id = |
977 | 605 |
EC_READ_U32(slave->sii_words + 0x0008); |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
606 |
slave->sii.product_code = |
977 | 607 |
EC_READ_U32(slave->sii_words + 0x000A); |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
608 |
slave->sii.revision_number = |
977 | 609 |
EC_READ_U32(slave->sii_words + 0x000C); |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
610 |
slave->sii.serial_number = |
977 | 611 |
EC_READ_U32(slave->sii_words + 0x000E); |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
612 |
slave->sii.boot_rx_mailbox_offset = |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
613 |
EC_READ_U16(slave->sii_words + 0x0014); |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
614 |
slave->sii.boot_rx_mailbox_size = |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
615 |
EC_READ_U16(slave->sii_words + 0x0015); |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
616 |
slave->sii.boot_tx_mailbox_offset = |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
617 |
EC_READ_U16(slave->sii_words + 0x0016); |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
618 |
slave->sii.boot_tx_mailbox_size = |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
619 |
EC_READ_U16(slave->sii_words + 0x0017); |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
620 |
slave->sii.std_rx_mailbox_offset = |
977 | 621 |
EC_READ_U16(slave->sii_words + 0x0018); |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
622 |
slave->sii.std_rx_mailbox_size = |
977 | 623 |
EC_READ_U16(slave->sii_words + 0x0019); |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
624 |
slave->sii.std_tx_mailbox_offset = |
977 | 625 |
EC_READ_U16(slave->sii_words + 0x001A); |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
626 |
slave->sii.std_tx_mailbox_size = |
977 | 627 |
EC_READ_U16(slave->sii_words + 0x001B); |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
628 |
slave->sii.mailbox_protocols = |
977 | 629 |
EC_READ_U16(slave->sii_words + 0x001C); |
630 |
||
631 |
if (slave->sii_nwords == EC_FIRST_SII_CATEGORY_OFFSET) { |
|
872 | 632 |
// sii does not contain category data |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
633 |
fsm->state = ec_fsm_slave_scan_state_end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
634 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
635 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
636 |
|
977 | 637 |
if (slave->sii_nwords < EC_FIRST_SII_CATEGORY_OFFSET + 1) { |
1921 | 638 |
EC_SLAVE_ERR(slave, "Unexpected end of SII data:" |
639 |
" First category header missing.\n"); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
640 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
641 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
642 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
643 |
// evaluate category data |
977 | 644 |
cat_word = slave->sii_words + EC_FIRST_SII_CATEGORY_OFFSET; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
645 |
while (EC_READ_U16(cat_word) != 0xFFFF) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
646 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
647 |
// type and size words must fit |
977 | 648 |
if (cat_word + 2 - slave->sii_words > slave->sii_nwords) { |
1921 | 649 |
EC_SLAVE_ERR(slave, "Unexpected end of SII data:" |
650 |
" Category header incomplete.\n"); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
651 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
652 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
653 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
654 |
cat_type = EC_READ_U16(cat_word) & 0x7FFF; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
655 |
cat_size = EC_READ_U16(cat_word + 1); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
656 |
cat_word += 2; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
657 |
|
977 | 658 |
if (cat_word + cat_size - slave->sii_words > slave->sii_nwords) { |
1921 | 659 |
EC_SLAVE_WARN(slave, "Unexpected end of SII data:" |
660 |
" Category data incomplete.\n"); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
661 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
662 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
663 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
664 |
switch (cat_type) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
665 |
case 0x000A: |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
666 |
if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
667 |
cat_size * 2)) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
668 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
669 |
break; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
670 |
case 0x001E: |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
671 |
if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
672 |
cat_size * 2)) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
673 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
674 |
break; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
675 |
case 0x0028: |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
676 |
break; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
677 |
case 0x0029: |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
678 |
if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
679 |
cat_size * 2)) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
680 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
681 |
break; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
682 |
case 0x0032: |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
683 |
if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word, |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
684 |
cat_size * 2, EC_DIR_INPUT)) // TxPDO |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
685 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
686 |
break; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
687 |
case 0x0033: |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
688 |
if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word, |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
689 |
cat_size * 2, EC_DIR_OUTPUT)) // RxPDO |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
690 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
691 |
break; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
692 |
default: |
1924 | 693 |
EC_SLAVE_DBG(slave, 1, "Unknown category type 0x%04X.\n", |
694 |
cat_type); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
695 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
696 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
697 |
cat_word += cat_size; |
977 | 698 |
if (cat_word - slave->sii_words >= slave->sii_nwords) { |
1921 | 699 |
EC_SLAVE_WARN(slave, "Unexpected end of SII data:" |
700 |
" Next category header missing.\n"); |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
701 |
goto end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
702 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
703 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
704 |
|
1934
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
705 |
#ifdef EC_REGALIAS |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
706 |
ec_fsm_slave_scan_enter_regalias(fsm); |
1934
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
707 |
#else |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
708 |
if (slave->sii.mailbox_protocols & EC_MBOX_COE) { |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
709 |
ec_fsm_slave_scan_enter_preop(fsm); |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
710 |
} else { |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
711 |
fsm->state = ec_fsm_slave_scan_state_end; |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
712 |
} |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
713 |
#endif |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
714 |
return; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
715 |
|
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
716 |
end: |
1921 | 717 |
EC_SLAVE_ERR(slave, "Failed to analyze category data.\n"); |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
718 |
fsm->slave->error_flag = 1; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
719 |
fsm->state = ec_fsm_slave_scan_state_error; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
720 |
} |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
721 |
|
1934
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
722 |
/*****************************************************************************/ |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
723 |
|
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
724 |
#ifdef EC_REGALIAS |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
725 |
|
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
726 |
/** Slave scan entry function: REGALIAS. |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
727 |
*/ |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
728 |
void ec_fsm_slave_scan_enter_regalias( |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
729 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
730 |
) |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
731 |
{ |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
732 |
ec_datagram_t *datagram = fsm->datagram; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
733 |
ec_slave_t *slave = fsm->slave; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
734 |
|
1909
ea3eb4c74c1b
Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents:
1822
diff
changeset
|
735 |
// read alias from register |
1921 | 736 |
EC_SLAVE_DBG(slave, 1, "Reading alias from register.\n"); |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
737 |
ec_datagram_fprd(datagram, slave->station_address, 0x0012, 2); |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
738 |
ec_datagram_zero(datagram); |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
739 |
fsm->retries = EC_FSM_RETRIES; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
740 |
fsm->state = ec_fsm_slave_scan_state_regalias; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
741 |
} |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
742 |
|
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
743 |
/*****************************************************************************/ |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
744 |
|
1934
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
745 |
/** Slave scan state: REGALIAS. |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
746 |
*/ |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
747 |
void ec_fsm_slave_scan_state_regalias( |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
748 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
1804 | 749 |
) |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
750 |
{ |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
751 |
ec_datagram_t *datagram = fsm->datagram; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
752 |
ec_slave_t *slave = fsm->slave; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
753 |
|
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
754 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
755 |
return; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
756 |
|
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
757 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
758 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 759 |
EC_SLAVE_ERR(slave, "Failed to receive register alias datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
760 |
ec_datagram_print_state(datagram); |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
761 |
return; |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
762 |
} |
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1470
diff
changeset
|
763 |
|
1776 | 764 |
if (datagram->working_counter != 1) { |
1921 | 765 |
EC_SLAVE_DBG(slave, 1, "Failed to read register alias.\n"); |
1776 | 766 |
} else { |
1909
ea3eb4c74c1b
Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents:
1822
diff
changeset
|
767 |
slave->effective_alias = EC_READ_U16(datagram->data); |
1921 | 768 |
EC_SLAVE_DBG(slave, 1, "Read alias %u from register.\n", |
769 |
slave->effective_alias); |
|
1776 | 770 |
} |
1934
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
771 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
772 |
if (slave->sii.mailbox_protocols & EC_MBOX_COE) { |
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
773 |
ec_fsm_slave_scan_enter_preop(fsm); |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
774 |
} else { |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
775 |
fsm->state = ec_fsm_slave_scan_state_end; |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
776 |
} |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
777 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
778 |
|
1934
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
779 |
#endif // defined EC_REGALIAS |
f00951ab7399
Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents:
1924
diff
changeset
|
780 |
|
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
781 |
/*****************************************************************************/ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
782 |
|
841 | 783 |
/** Enter slave scan state PREOP. |
784 |
*/ |
|
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
785 |
void ec_fsm_slave_scan_enter_preop( |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
786 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
787 |
) |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
788 |
{ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
789 |
ec_slave_t *slave = fsm->slave; |
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
790 |
uint8_t current_state = slave->current_state & EC_SLAVE_STATE_MASK; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
791 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
792 |
if (current_state != EC_SLAVE_STATE_PREOP |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
793 |
&& current_state != EC_SLAVE_STATE_SAFEOP |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
794 |
&& current_state != EC_SLAVE_STATE_OP) { |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
795 |
if (slave->master->debug_level) { |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
796 |
char str[EC_STATE_STRING_SIZE]; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
797 |
ec_state_string(current_state, str, 0); |
1921 | 798 |
EC_SLAVE_DBG(slave, 0, "Slave is not in the state" |
799 |
" to do mailbox com (%s), setting to PREOP.\n", str); |
|
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
800 |
} |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
801 |
|
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
802 |
fsm->state = ec_fsm_slave_scan_state_preop; |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
803 |
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
804 |
ec_fsm_slave_config_start(fsm->fsm_slave_config, slave); |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
805 |
ec_fsm_slave_config_exec(fsm->fsm_slave_config); |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
806 |
} else { |
1921 | 807 |
EC_SLAVE_DBG(slave, 1, "Reading mailbox" |
808 |
" sync manager configuration.\n"); |
|
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
809 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
810 |
/* Scan current sync manager configuration to get configured mailbox |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
811 |
* sizes. */ |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
812 |
ec_datagram_fprd(fsm->datagram, slave->station_address, 0x0800, |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
813 |
EC_SYNC_PAGE_SIZE * 2); |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
814 |
fsm->retries = EC_FSM_RETRIES; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
815 |
fsm->state = ec_fsm_slave_scan_state_sync; |
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
816 |
} |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
817 |
} |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
818 |
|
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
819 |
/*****************************************************************************/ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
820 |
|
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
821 |
/** Slave scan state: PREOP. |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
822 |
*/ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
823 |
void ec_fsm_slave_scan_state_preop( |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
824 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
825 |
) |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
826 |
{ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
827 |
if (ec_fsm_slave_config_exec(fsm->fsm_slave_config)) |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
828 |
return; |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
829 |
|
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
830 |
if (!ec_fsm_slave_config_success(fsm->fsm_slave_config)) { |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
831 |
fsm->state = ec_fsm_slave_scan_state_error; |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
832 |
return; |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
833 |
} |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
834 |
|
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
835 |
ec_fsm_slave_scan_enter_pdos(fsm); |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
836 |
} |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
837 |
|
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
838 |
/*****************************************************************************/ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
839 |
|
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
840 |
/** Slave scan state: SYNC. |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
841 |
*/ |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
842 |
void ec_fsm_slave_scan_state_sync( |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
843 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
844 |
) |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
845 |
{ |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
846 |
ec_datagram_t *datagram = fsm->datagram; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
847 |
ec_slave_t *slave = fsm->slave; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
848 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
849 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
850 |
return; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
851 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
852 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
853 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 854 |
EC_SLAVE_ERR(slave, "Failed to receive sync manager" |
855 |
" configuration datagram: "); |
|
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
856 |
ec_datagram_print_state(datagram); |
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
857 |
return; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
858 |
} |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
859 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
860 |
if (datagram->working_counter != 1) { |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
861 |
fsm->slave->error_flag = 1; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
862 |
fsm->state = ec_fsm_slave_scan_state_error; |
1921 | 863 |
EC_SLAVE_ERR(slave, "Failed to read DL status: "); |
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
864 |
ec_datagram_print_wc_error(datagram); |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
865 |
return; |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
866 |
} |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
867 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
868 |
slave->configured_rx_mailbox_offset = EC_READ_U16(datagram->data); |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
869 |
slave->configured_rx_mailbox_size = EC_READ_U16(datagram->data + 2); |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
870 |
slave->configured_tx_mailbox_offset = EC_READ_U16(datagram->data + 8); |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
871 |
slave->configured_tx_mailbox_size = EC_READ_U16(datagram->data + 10); |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
872 |
|
1921 | 873 |
EC_SLAVE_DBG(slave, 1, "Mailbox configuration:\n"); |
874 |
EC_SLAVE_DBG(slave, 1, " RX offset=0x%04x size=%u\n", |
|
875 |
slave->configured_rx_mailbox_offset, |
|
876 |
slave->configured_rx_mailbox_size); |
|
877 |
EC_SLAVE_DBG(slave, 1, " TX offset=0x%04x size=%u\n", |
|
878 |
slave->configured_tx_mailbox_offset, |
|
879 |
slave->configured_tx_mailbox_size); |
|
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
880 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
881 |
ec_fsm_slave_scan_enter_pdos(fsm); |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
882 |
} |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
883 |
|
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
884 |
/*****************************************************************************/ |
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
885 |
|
841 | 886 |
/** Enter slave scan state PDOS. |
887 |
*/ |
|
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
888 |
void ec_fsm_slave_scan_enter_pdos( |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
889 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
890 |
) |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
891 |
{ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
892 |
ec_slave_t *slave = fsm->slave; |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
893 |
|
1921 | 894 |
EC_SLAVE_DBG(slave, 1, "Scanning PDO assignment and mapping.\n"); |
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
895 |
fsm->state = ec_fsm_slave_scan_state_pdos; |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
896 |
ec_fsm_pdo_start_reading(fsm->fsm_pdo, slave); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
897 |
ec_fsm_pdo_exec(fsm->fsm_pdo); // execute immediately |
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
898 |
} |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
899 |
|
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
900 |
/*****************************************************************************/ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
901 |
|
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
902 |
/** Slave scan state: PDOS. |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
903 |
*/ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
904 |
void ec_fsm_slave_scan_state_pdos( |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
905 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
906 |
) |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
907 |
{ |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
908 |
if (ec_fsm_pdo_exec(fsm->fsm_pdo)) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
909 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
910 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
911 |
if (!ec_fsm_pdo_success(fsm->fsm_pdo)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
912 |
fsm->state = ec_fsm_slave_scan_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
913 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
914 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
915 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
916 |
// reading PDO configuration finished |
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
917 |
fsm->state = ec_fsm_slave_scan_state_end; |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
918 |
} |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
919 |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
920 |
/****************************************************************************** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
921 |
* Common state functions |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
922 |
*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
923 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
924 |
/** State: ERROR. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
925 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
926 |
void ec_fsm_slave_scan_state_error( |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
927 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
928 |
) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
929 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
930 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
931 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
932 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
933 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
934 |
/** State: END. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
935 |
*/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
936 |
void ec_fsm_slave_scan_state_end( |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
937 |
ec_fsm_slave_scan_t *fsm /**< slave state machine */ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
938 |
) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
939 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
940 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
941 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
942 |
/*****************************************************************************/ |