master/fsm_slave_scan.c
author Florian Pose <fp@igh-essen.com>
Wed, 01 Oct 2008 08:45:16 +0000
changeset 1238 02711963a059
parent 1225 4d5b739edcb5
child 1326 ef907b0b5125
permissions -rw-r--r--
Added missing header.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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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_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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void ec_fsm_slave_scan_state_preop(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_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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/*****************************************************************************/
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/**
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   \return false, if state machine has terminated
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*/
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int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    return fsm->state != ec_fsm_slave_scan_state_end
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        && fsm->state != ec_fsm_slave_scan_state_error;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   If the state machine's datagram is not sent or received yet, the execution
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   of the state machine is delayed to the next cycle.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return ec_fsm_slave_scan_running(fsm);
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    }
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    fsm->state(fsm);
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   141
    return ec_fsm_slave_scan_running(fsm);
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}
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/*****************************************************************************/
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/**
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   \return true, if the state machine terminated gracefully
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*/
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int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    return fsm->state == ec_fsm_slave_scan_state_end;
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}
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/******************************************************************************
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 *  slave scan state machine
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 *****************************************************************************/
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/**
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   Slave scan state: START.
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   First state of the slave state machine. Writes the station address to the
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   slave, according to its ring position.
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*/
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    // write station address
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   168
    ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
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    EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
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    fsm->retries = EC_FSM_RETRIES;
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    fsm->state = ec_fsm_slave_scan_state_address;
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   172
}
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/*****************************************************************************/
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   175
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   176
/**
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   Slave scan state: ADDRESS.
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*/
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   179
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void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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   183
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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   185
        return;
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   186
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   187
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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   188
        fsm->state = ec_fsm_slave_scan_state_error;
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a486591ba86b Replaced misleading %i by %u.
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   189
        EC_ERR("Failed to receive station address datagram for slave %u"
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   190
                " (datagram state %u)\n",
830
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   191
                fsm->slave->ring_position, datagram->state);
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   192
        return;
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   193
    }
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   194
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   195
    if (datagram->working_counter != 1) {
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   196
        fsm->slave->error_flag = 1;
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   197
        fsm->state = ec_fsm_slave_scan_state_error;
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   198
        EC_ERR("Failed to write station address on slave %u: ",
830
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   199
               fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
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   201
        return;
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   202
    }
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   203
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    // Read AL state
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   205
    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
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4d5b739edcb5 Introduced ec_datagram_zero().
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   206
    ec_datagram_zero(datagram);
830
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   207
    fsm->retries = EC_FSM_RETRIES;
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   208
    fsm->state = ec_fsm_slave_scan_state_state;
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   209
}
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   210
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   211
/*****************************************************************************/
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   212
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   213
/**
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   214
   Slave scan state: STATE.
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   215
*/
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   216
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   217
void ec_fsm_slave_scan_state_state(
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   218
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
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   219
        )
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   220
{
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parents:
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   221
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
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   222
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   223
d83d92e1a919 Separated slave state machines.
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   224
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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   225
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   226
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   227
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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   228
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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   229
        EC_ERR("Failed to receive AL state datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
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parents: 977
diff changeset
   230
                " (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   231
               fsm->slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   232
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   233
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   234
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   235
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   236
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   237
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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parents: 977
diff changeset
   238
        EC_ERR("Failed to read AL state of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   240
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   241
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   242
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   243
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   244
    slave->current_state = EC_READ_U8(datagram->data);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   245
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   246
        char state_str[EC_STATE_STRING_SIZE];
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   247
        ec_state_string(slave->current_state, state_str);
986
a486591ba86b Replaced misleading %i by %u.
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parents: 977
diff changeset
   248
        EC_WARN("Slave %u has state error bit set (%s)!\n",
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   249
                slave->ring_position, state_str);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   250
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   251
d83d92e1a919 Separated slave state machines.
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   252
    // read base data
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   253
    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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parents: 1174
diff changeset
   254
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   255
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   256
    fsm->state = ec_fsm_slave_scan_state_base;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   257
}
d83d92e1a919 Separated slave state machines.
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   258
d83d92e1a919 Separated slave state machines.
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diff changeset
   259
/*****************************************************************************/
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   260
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   261
/**
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   262
   Slave scan state: BASE.
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   263
*/
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   264
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   265
void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   266
{
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   267
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   268
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   269
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   270
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   271
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   272
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   273
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   274
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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parents: 977
diff changeset
   275
        EC_ERR("Failed to receive base data datagram for slave %u"
a486591ba86b Replaced misleading %i by %u.
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parents: 977
diff changeset
   276
                " (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   277
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   278
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   279
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   280
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   281
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   282
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   284
        EC_ERR("Failed to read base data from slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
    slave->base_type       = EC_READ_U8 (datagram->data);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
    slave->base_build      = EC_READ_U16(datagram->data + 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
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
    if (slave->base_fmmu_count > EC_MAX_FMMUS) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
        EC_WARN("Slave %u has more FMMUs (%u) than the master can"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
                " handle (%u).\n", slave->ring_position,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
                slave->base_fmmu_count, EC_MAX_FMMUS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
        slave->base_fmmu_count = EC_MAX_FMMUS;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
    // read data link status
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
    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
   304
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
    fsm->state = ec_fsm_slave_scan_state_datalink;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
/**
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
   Slave scan state: DATALINK.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
*/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
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
   316
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
    uint16_t dl_status;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   327
        EC_ERR("Failed to receive DL status datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   328
                " (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   336
        EC_ERR("Failed to read DL status from slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    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
   343
    for (i = 0; i < EC_MAX_PORTS; i++) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   344
        slave->ports[i].dl_link = dl_status & (1 << (4 + i)) ? 1 : 0;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   345
        slave->ports[i].dl_loop = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   346
        slave->ports[i].dl_signal = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   349
    // Start fetching SII size
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   350
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   351
    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
   352
    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
   353
            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   354
    fsm->state = ec_fsm_slave_scan_state_sii_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    fsm->state(fsm); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   361
   Slave scan state: SII SIZE.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   362
*/
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   363
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   364
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
   365
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
    uint16_t cat_type, cat_size;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   374
        EC_ERR("Failed to read SII size of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
    cat_type = EC_READ_U16(fsm->fsm_sii.value);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
    if (cat_type != 0xFFFF) { // not the last category
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
        off_t next_offset = 2UL + fsm->sii_offset + cat_size;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   384
        if (next_offset >= EC_MAX_SII_SIZE) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   385
            EC_WARN("SII size of slave %u exceeds"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
                    " %u words (0xffff limiter missing?).\n",
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   387
                    slave->ring_position, EC_MAX_SII_SIZE);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
            // cut off category data...
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   389
            slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   390
            goto alloc_sii;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
        fsm->sii_offset = next_offset;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
        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
   394
                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   399
    slave->sii_nwords = fsm->sii_offset + 1;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   400
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   401
alloc_sii:
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   402
    if (slave->sii_words) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   403
        EC_WARN("Freeing old SII data on slave %u...\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
                slave->ring_position);
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   405
        kfree(slave->sii_words);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   406
    }
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   407
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   408
    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
   409
                (uint16_t *) kmalloc(slave->sii_nwords * 2, GFP_KERNEL))) {
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   410
        EC_ERR("Failed to allocate %u words of SII data for slave %u.\n",
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   411
               slave->sii_nwords, slave->ring_position);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   412
        slave->sii_nwords = 0;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
        fsm->state = ec_fsm_slave_scan_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   418
    // Start fetching SII contents
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   419
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   420
    fsm->state = ec_fsm_slave_scan_state_sii_data;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
    fsm->sii_offset = 0x0000;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
    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
   423
            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   430
   Slave scan state: SII DATA.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   431
*/
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   432
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   433
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
   434
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
    ec_slave_t *slave = fsm->slave;
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   436
    uint16_t *cat_word, cat_type, cat_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
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
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   443
        EC_ERR("Failed to fetch SII contents of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
    }
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
    // 2 words fetched
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   450
    if (fsm->sii_offset + 2 <= slave->sii_nwords) { // 2 words fit
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   451
        memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 4);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   452
    } else { // copy the last word
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   453
        memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 2);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   454
    }
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   455
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   456
    if (fsm->sii_offset + 2 < slave->sii_nwords) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
        // fetch the next 2 words
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
        fsm->sii_offset += 2;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
        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
   460
                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   465
    // Evaluate SII contents
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 841
diff changeset
   466
    
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 841
diff changeset
   467
    ec_slave_clear_sync_managers(slave);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   469
    slave->sii.alias =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   470
        EC_READ_U16(slave->sii_words + 0x0004);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   471
    slave->sii.vendor_id =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   472
        EC_READ_U32(slave->sii_words + 0x0008);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   473
    slave->sii.product_code =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   474
        EC_READ_U32(slave->sii_words + 0x000A);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   475
    slave->sii.revision_number =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   476
        EC_READ_U32(slave->sii_words + 0x000C);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   477
    slave->sii.serial_number =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   478
        EC_READ_U32(slave->sii_words + 0x000E);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   479
    slave->sii.rx_mailbox_offset =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   480
        EC_READ_U16(slave->sii_words + 0x0018);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   481
    slave->sii.rx_mailbox_size =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   482
        EC_READ_U16(slave->sii_words + 0x0019);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   483
    slave->sii.tx_mailbox_offset =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   484
        EC_READ_U16(slave->sii_words + 0x001A);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   485
    slave->sii.tx_mailbox_size =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   486
        EC_READ_U16(slave->sii_words + 0x001B);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   487
    slave->sii.mailbox_protocols =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   488
        EC_READ_U16(slave->sii_words + 0x001C);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   489
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   490
    if (slave->sii_nwords == EC_FIRST_SII_CATEGORY_OFFSET) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   491
        // sii does not contain category data
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
        fsm->state = ec_fsm_slave_scan_state_end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   496
    if (slave->sii_nwords < EC_FIRST_SII_CATEGORY_OFFSET + 1) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   497
        EC_ERR("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
                " First category header missing.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
                slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
        goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
    // evaluate category data
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   504
    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
   505
    while (EC_READ_U16(cat_word) != 0xFFFF) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
        // type and size words must fit
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   508
        if (cat_word + 2 - slave->sii_words > slave->sii_nwords) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   509
            EC_ERR("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
                    " Category header incomplete.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
            goto end;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
        cat_size = EC_READ_U16(cat_word + 1);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
        cat_word += 2;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   519
        if (cat_word + cat_size - slave->sii_words > slave->sii_nwords) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   520
            EC_WARN("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
                    " Category data incomplete.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
        }
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
        switch (cat_type) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
            case 0x000A:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
                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
   529
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
            case 0x001E:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
                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
   534
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
            case 0x0028:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
            case 0x0029:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
                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
   541
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
            case 0x0032:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   546
                            cat_size * 2, EC_DIR_INPUT)) // TxPdo
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
            case 0x0033:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
                            cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
            default:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
                if (fsm->slave->master->debug_level)
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   556
                    EC_WARN("Unknown category type 0x%04X in slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
                            cat_type, slave->ring_position);
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
        cat_word += cat_size;
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   561
        if (cat_word - slave->sii_words >= slave->sii_nwords) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   562
            EC_WARN("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
                    " Next category header missing.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
        }
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
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   569
    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
   570
        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
   571
    } else {
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   572
        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
   573
    }
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
    return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
end:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
    EC_ERR("Failed to analyze category data.\n");
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
    fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
    fsm->state = ec_fsm_slave_scan_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   582
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   583
841
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   584
/** Enter slave scan state PREOP.
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   585
 */
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   586
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
   587
        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
   588
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   589
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   590
    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
   591
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   592
    if ((slave->current_state & EC_SLAVE_STATE_MASK) < EC_SLAVE_STATE_PREOP) {
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   593
        if (slave->master->debug_level)
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   594
            EC_DBG("Slave %u is not in the state to do mailbox com, setting"
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   595
                    " to PREOP.\n", slave->ring_position);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   596
        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
   597
        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
   598
        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
   599
        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
   600
    } else {
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   601
        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
   602
    }
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   603
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   604
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   605
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   606
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   607
/** Slave scan state: PREOP.
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   608
 */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   609
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
   610
        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
   611
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   612
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   613
    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
   614
        return;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   615
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   616
    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
   617
        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
   618
        return;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   619
    }
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   620
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   621
    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
   622
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   623
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   624
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   625
841
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   626
/** Enter slave scan state PDOS.
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   627
 */
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   628
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
   629
        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
   630
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   631
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   632
    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
   633
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   634
    if (slave->master->debug_level)
903
d13004440b6d Improved a few debugging outputs.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   635
        EC_DBG("Scanning Pdo assignment and mapping of slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   636
                slave->ring_position);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   637
    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
   638
    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
   639
    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
   640
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   641
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   642
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   643
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   644
/** Slave scan state: PDOS.
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   645
 */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   646
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
   647
        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
   648
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   649
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   650
    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
   651
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   652
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   653
    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
   654
        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
   655
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   656
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   657
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   658
    // reading Pdo configuration finished
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   659
    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
   660
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   661
830
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
 * Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
/** State: ERROR.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
 */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
void ec_fsm_slave_scan_state_error(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
/** State: END.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
 */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
void ec_fsm_slave_scan_state_end(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   683
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
/*****************************************************************************/