master/fsm_master.c
author Florian Pose <fp@igh-essen.com>
Thu, 15 Apr 2010 20:52:49 +0200
changeset 1897 029345a0de52
parent 1892 0c254f0e7f7d
child 1909 ea3eb4c74c1b
permissions -rw-r--r--
Removed printk().
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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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/** \file
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 * EtherCAT master state machine.
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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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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "fsm_master.h"
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#include "fsm_foe.h"
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/*****************************************************************************/
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void ec_fsm_master_state_start(ec_fsm_master_t *);
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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void ec_fsm_master_state_read_state(ec_fsm_master_t *);
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);
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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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void ec_fsm_master_state_reg_request(ec_fsm_master_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_master_init(
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        ec_fsm_master_t *fsm, /**< Master state machine. */
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        ec_master_t *master, /**< EtherCAT master. */
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        ec_datagram_t *datagram /**< Datagram object to use. */
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        )
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{
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    fsm->master = master;
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    fsm->datagram = datagram;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->idle = 0;
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    fsm->link_state = 0;
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    fsm->slaves_responding = 0;
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    fsm->topology_change_pending = 0;
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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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    // init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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    ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
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            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);
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    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
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            &fsm->fsm_slave_config, &fsm->fsm_pdo);
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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_master_clear(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    // clear sub-state machines
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_pdo_clear(&fsm->fsm_pdo);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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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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 *
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 * \return true, if the state machine was executed
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 */
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int ec_fsm_master_exec(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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   123
    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
505
bc443ca0077f State machines re-send datagrams on timeout.
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        // datagram was not sent or received yet.
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
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   126
        return 0;
528
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    }
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    fsm->state(fsm);
1583
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   130
    return 1;
446
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   131
}
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   132
650
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/*****************************************************************************/
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/**
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 * \return true, if the state machine is in an idle phase
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 */
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   138
int ec_fsm_master_idle(
907
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        const ec_fsm_master_t *fsm /**< Master state machine. */
650
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        )
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{
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   142
    return fsm->idle;
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   143
}
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1031
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/*****************************************************************************/
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   146
000593b576dd Removed 'end' and 'error' states from master state machine.
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   147
/** Restarts the master state machine.
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 */
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   149
void ec_fsm_master_restart(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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   151
        )
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{
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    fsm->state = ec_fsm_master_state_start;
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   154
    fsm->state(fsm); // execute immediately
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   155
}
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238
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/******************************************************************************
907
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 * Master state machine
238
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 *****************************************************************************/
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   161
/** Master state: START.
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   162
 *
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 * Starts with getting slave count and slave states.
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   164
 */
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   165
void ec_fsm_master_state_start(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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   167
        )
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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   168
{
650
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   169
    fsm->idle = 1;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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    ec_datagram_zero(fsm->datagram);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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    fsm->state = ec_fsm_master_state_broadcast;
260
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   173
}
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   174
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/*****************************************************************************/
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   176
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   177
/** Master state: BROADCAST.
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 *
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 * Processes the broadcast read slave count and slaves states.
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   180
 */
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   181
void ec_fsm_master_state_broadcast(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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   183
        )
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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{
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   185
    ec_datagram_t *datagram = fsm->datagram;
1005
5af7ab9a98b1 Minor change.
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   186
    unsigned int i, size;
238
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   187
    ec_slave_t *slave;
260
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   188
    ec_master_t *master = fsm->master;
238
b4960499098f Added finite state machine (FSM) processing.
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   189
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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   190
    if (datagram->state == EC_DATAGRAM_TIMED_OUT)
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   191
        return; // always retry
505
bc443ca0077f State machines re-send datagrams on timeout.
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   192
553
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
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   193
    // bus topology change?
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   194
    if (datagram->working_counter != fsm->slaves_responding) {
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
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   195
        fsm->topology_change_pending = 1;
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   196
        fsm->slaves_responding = datagram->working_counter;
906
f95e3e33c0cf Removed slave online flag.
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   197
        EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
f95e3e33c0cf Removed slave online flag.
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diff changeset
   198
    }
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   199
1400
3c4923051e43 Clear slave list on link down.
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   200
    if (fsm->link_state && !master->main_device.link_state) { // link went down
1402
4c1203ec569d Tested clearing slave list after link down; minor changes.
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   201
        if (master->debug_level) {
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   202
            EC_DBG("Master state machine detected "
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   203
                    "link down. Clearing slave list.\n");
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diff changeset
   204
        }
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diff changeset
   205
1400
3c4923051e43 Clear slave list on link down.
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   206
#ifdef EC_EOE
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   207
        ec_master_eoe_stop(master);
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   208
        ec_master_clear_eoe_handlers(master);
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diff changeset
   209
#endif
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   210
        ec_master_clear_slaves(master);
1830
ef09f0ea0c4c Reset AL states on link down.
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diff changeset
   211
        fsm->slave_states = 0x00;
1400
3c4923051e43 Clear slave list on link down.
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diff changeset
   212
    }
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   213
    fsm->link_state = master->main_device.link_state;
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diff changeset
   214
1402
4c1203ec569d Tested clearing slave list after link down; minor changes.
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diff changeset
   215
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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diff changeset
   216
        ec_fsm_master_restart(fsm);
906
f95e3e33c0cf Removed slave online flag.
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   217
        return;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   218
    }
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diff changeset
   219
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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   220
    if (fsm->slaves_responding) {
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   221
        uint8_t states = EC_READ_U8(datagram->data);
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   222
        if (states != fsm->slave_states) { // slave states changed?
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   223
            char state_str[EC_STATE_STRING_SIZE];
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   224
            fsm->slave_states = states;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   225
            ec_state_string(fsm->slave_states, state_str, 1);
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   226
            EC_INFO("Slave states: %s.\n", state_str);
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diff changeset
   227
        }
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   228
    } else {
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   229
        fsm->slave_states = 0x00;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   230
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   231
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   232
    if (fsm->topology_change_pending) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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   233
        down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   234
        if (!master->allow_scan) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   235
            up(&master->scan_sem);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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parents: 880
diff changeset
   236
        } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   237
            master->scan_busy = 1;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   238
            up(&master->scan_sem);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   239
656
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   240
            // topology change when scan is allowed:
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diff changeset
   241
            // clear all slaves and scan the bus
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diff changeset
   242
            fsm->topology_change_pending = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   243
            fsm->idle = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   244
            fsm->scan_jiffies = jiffies;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   245
715
f12ff7c08623 Added --enable-eoe conditional.
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parents: 713
diff changeset
   246
#ifdef EC_EOE
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   247
            ec_master_eoe_stop(master);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   248
            ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
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parents: 713
diff changeset
   249
#endif
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   250
            ec_master_clear_slaves(master);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   251
1003
f7cf194d6979 Minor change.
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parents: 1002
diff changeset
   252
            master->slave_count = fsm->slaves_responding;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   253
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   254
            if (!master->slave_count) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   255
                // no slaves present -> finish state machine.
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
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diff changeset
   256
                master->scan_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   257
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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parents: 1029
diff changeset
   258
                ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   259
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   260
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   261
1005
5af7ab9a98b1 Minor change.
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parents: 1003
diff changeset
   262
            size = sizeof(ec_slave_t) * master->slave_count;
5af7ab9a98b1 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1003
diff changeset
   263
            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
5af7ab9a98b1 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1003
diff changeset
   264
                EC_ERR("Failed to allocate %u bytes of slave memory!\n",
5af7ab9a98b1 Minor change.
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parents: 1003
diff changeset
   265
                        size);
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   266
                master->slave_count = 0; // TODO avoid retrying scan!
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   267
                master->scan_busy = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   268
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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parents: 1029
diff changeset
   269
                ec_fsm_master_restart(fsm);
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   270
                return;
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   271
            }
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   272
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   273
            // init slaves
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   274
            for (i = 0; i < master->slave_count; i++) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   275
                slave = master->slaves + i;
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   276
                ec_slave_init(slave, master, i, i + 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   277
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   278
                // do not force reconfiguration in operation phase to avoid
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   279
                // unnecesssary process data interruptions
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   280
                if (master->phase != EC_OPERATION)
908
386b908033be Replaced self_configured flag with force_config flag.
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parents: 907
diff changeset
   281
                    slave->force_config = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   282
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   283
904
ba6f222aa06e Removed some debugging.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   284
            // broadcast clear all station addresses
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   285
            ec_datagram_bwr(datagram, 0x0010, 2);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   286
            EC_WRITE_U16(datagram->data, 0x0000);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   287
            fsm->retries = EC_FSM_RETRIES;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   288
            fsm->state = ec_fsm_master_state_clear_addresses;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   289
            return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   290
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   291
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   292
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   293
    if (master->slave_count) {
907
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   294
        // fetch state from first slave
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   295
        fsm->slave = master->slaves;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   296
        ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   297
                0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   298
        ec_datagram_zero(datagram);
853
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   299
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   300
        fsm->state = ec_fsm_master_state_read_state;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   301
    } else {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   302
        ec_fsm_master_restart(fsm);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   303
    }
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   304
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   305
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   306
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   307
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   308
/** Check for pending SII write requests and process one.
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   309
 *
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   310
 * \return non-zero, if an SII write request is processed.
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   311
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   312
int ec_fsm_master_action_process_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   313
        ec_fsm_master_t *fsm /**< Master state machine. */
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   314
        )
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   315
{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   316
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   317
    ec_sii_write_request_t *request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   318
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   319
    // search the first request to be processed
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   320
    while (1) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   321
        if (list_empty(&master->sii_requests))
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   322
            break;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   323
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   324
        // get first request
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   325
        request = list_entry(master->sii_requests.next,
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   326
                ec_sii_write_request_t, list);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   327
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   328
        request->state = EC_INT_REQUEST_BUSY;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   329
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   330
        // found pending SII write operation. execute it!
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   331
        if (master->debug_level)
906
f95e3e33c0cf Removed slave online flag.
Florian Pose <fp@igh-essen.com>
parents: 905
diff changeset
   332
            EC_DBG("Writing SII data to slave %u...\n",
f95e3e33c0cf Removed slave online flag.
Florian Pose <fp@igh-essen.com>
parents: 905
diff changeset
   333
                    request->slave->ring_position);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   334
        fsm->sii_request = request;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   335
        fsm->sii_index = 0;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   336
        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   337
                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   338
        fsm->state = ec_fsm_master_state_write_sii;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   339
        fsm->state(fsm); // execute immediately
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   340
        return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   341
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   342
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   343
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   344
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   345
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   346
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   347
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   348
/** Check for pending register requests and process one.
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   349
 *
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   350
 * \return non-zero, if a register request is processed.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   351
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   352
int ec_fsm_master_action_process_register(
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   353
        ec_fsm_master_t *fsm /**< Master state machine. */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   354
        )
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   355
{
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   356
    ec_master_t *master = fsm->master;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   357
    ec_reg_request_t *request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   358
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   359
    // search the first request to be processed
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   360
    while (!list_empty(&master->reg_requests)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   361
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   362
        // get first request
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   363
        request = list_entry(master->reg_requests.next,
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   364
                ec_reg_request_t, list);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   365
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   366
        request->state = EC_INT_REQUEST_BUSY;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   367
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   368
        // found pending request; process it!
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   369
        if (master->debug_level)
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   370
            EC_DBG("Processing register request for slave %u, "
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   371
                    "offset 0x%04x, length %zu...\n",
1380
c2b0ef67e829 Improved phy debugging.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   372
                    request->slave->ring_position,
c2b0ef67e829 Improved phy debugging.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   373
                    request->offset, request->length);
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   374
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   375
        if (request->length > fsm->datagram->mem_size) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   376
            EC_ERR("Request length (%zu) exceeds maximum "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   377
                    "datagram size (%zu)!\n", request->length,
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   378
                    fsm->datagram->mem_size);
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   379
            request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   380
            wake_up(&master->reg_queue);
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   381
            continue;
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   382
        }
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   383
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   384
        fsm->reg_request = request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   385
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   386
        if (request->dir == EC_DIR_INPUT) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   387
            ec_datagram_fprd(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   388
                    request->offset, request->length);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   389
            ec_datagram_zero(fsm->datagram);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   390
        } else {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   391
            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   392
                    request->offset, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   393
            memcpy(fsm->datagram->data, request->data, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   394
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   395
        fsm->retries = EC_FSM_RETRIES;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   396
        fsm->state = ec_fsm_master_state_reg_request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   397
        return 1;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   398
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   399
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   400
    return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   401
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   402
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   403
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   404
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   405
/** Check for pending SDO requests and process one.
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   406
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   407
 * \return non-zero, if an SDO request is processed.
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   408
 */
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   409
int ec_fsm_master_action_process_sdo(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   410
        ec_fsm_master_t *fsm /**< Master state machine. */
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   411
        )
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   412
{
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   413
    ec_master_t *master = fsm->master;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   414
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   415
    ec_sdo_request_t *req;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   416
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   417
    // search for internal requests to be processed
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   418
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   419
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   420
            slave++) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   421
        if (!slave->config)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   422
            continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   423
        list_for_each_entry(req, &slave->config->sdo_requests, list) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   424
            if (req->state == EC_INT_REQUEST_QUEUED) {
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   425
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   426
                if (ec_sdo_request_timed_out(req)) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   427
                    req->state = EC_INT_REQUEST_FAILURE;
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   428
                    if (master->debug_level)
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   429
                        EC_DBG("Internal SDO request for slave %u"
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   430
                                " timed out...\n", slave->ring_position);
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   431
                    continue;
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   432
                }
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   433
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   434
                if (slave->current_state == EC_SLAVE_STATE_INIT) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   435
                    req->state = EC_INT_REQUEST_FAILURE;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   436
                    continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   437
                }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   438
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   439
                req->state = EC_INT_REQUEST_BUSY;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   440
                if (master->debug_level)
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1579
diff changeset
   441
                    EC_DBG("Processing internal SDO request for slave %u...\n",
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   442
                            slave->ring_position);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   443
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   444
                fsm->idle = 0;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   445
                fsm->sdo_request = req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   446
                fsm->slave = slave;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   447
                fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   448
                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   449
                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   450
                return 1;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   451
            }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   452
        }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   453
    }
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   454
    return 0;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   455
}
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   456
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   457
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   458
/*****************************************************************************/
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   459
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   460
/** Master action: IDLE.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   461
 *
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   462
 * Does secondary work.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   463
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   464
void ec_fsm_master_action_idle(
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   465
        ec_fsm_master_t *fsm /**< Master state machine. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   466
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   467
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   468
    ec_master_t *master = fsm->master;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   469
    ec_slave_t *slave;
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   470
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   471
    // Check for pending internal SDO requests
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   472
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   473
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   474
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1830
diff changeset
   475
    // enable processing of requests
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   476
    for (slave = master->slaves;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   477
            slave < master->slaves + master->slave_count;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   478
            slave++) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   479
        ec_fsm_slave_ready(&slave->fsm);
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   480
    }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   481
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   482
    // check, if slaves have an SDO dictionary to read out.
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   483
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   484
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   485
            slave++) {
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   486
        if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   487
                || (slave->sii.has_general
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   488
                    && !slave->sii.coe_details.enable_sdo_info)
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   489
                || slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   490
                || slave->current_state == EC_SLAVE_STATE_INIT
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   491
                || slave->current_state == EC_SLAVE_STATE_UNKNOWN
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   492
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   493
                ) continue;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   494
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   495
        if (master->debug_level) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   496
            EC_DBG("Fetching SDO dictionary from slave %u.\n",
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   497
                    slave->ring_position);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   498
        }
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   499
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   500
        slave->sdo_dictionary_fetched = 1;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   501
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   502
        // start fetching SDO dictionary
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   503
        fsm->idle = 0;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   504
        fsm->slave = slave;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   505
        fsm->state = ec_fsm_master_state_sdo_dictionary;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   506
        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   507
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   508
        return;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   509
    }
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   510
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   511
    // check for pending SII write operations.
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   512
    if (ec_fsm_master_action_process_sii(fsm))
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   513
        return; // SII write request found
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   514
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   515
    // check for pending register requests.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   516
    if (ec_fsm_master_action_process_register(fsm))
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   517
        return; // register request processing
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   518
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   519
    ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   520
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   521
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   522
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   523
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   524
/** Master action: Get state of next slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   525
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   526
void ec_fsm_master_action_next_slave_state(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   527
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   528
        )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   529
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   530
    ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   531
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   532
    // is there another slave to query?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   533
    fsm->slave++;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   534
    if (fsm->slave < master->slaves + master->slave_count) {
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   535
        // fetch state from next slave
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   536
        fsm->idle = 1;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   537
        ec_datagram_fprd(fsm->datagram,
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   538
                fsm->slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   539
        ec_datagram_zero(fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   540
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   541
        fsm->state = ec_fsm_master_state_read_state;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   542
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   543
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   544
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   545
    // all slaves processed
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   546
    ec_fsm_master_action_idle(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   547
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   548
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   549
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   550
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   551
/** Master action: Configure.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   552
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   553
void ec_fsm_master_action_configure(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   554
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   555
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   556
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   557
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   558
    ec_slave_t *slave = fsm->slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   559
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   560
    // Does the slave have to be configured?
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   561
    if ((slave->current_state != slave->requested_state
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   562
                || slave->force_config) && !slave->error_flag) {
1177
03d9640c9ce4 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   563
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   564
        // Start slave configuration, if it is allowed.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   565
        down(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   566
        if (!master->allow_config) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   567
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   568
        } else {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   569
            master->config_busy = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   570
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   571
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   572
            if (master->debug_level) {
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   573
                char old_state[EC_STATE_STRING_SIZE],
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   574
                     new_state[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: 1336
diff changeset
   575
                ec_state_string(slave->current_state, old_state, 0);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   576
                ec_state_string(slave->requested_state, new_state, 0);
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   577
                EC_DBG("Changing state of slave %u from %s to %s%s.\n",
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   578
                        slave->ring_position, old_state, new_state,
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   579
                        slave->force_config ? " (forced)" : "");
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   580
            }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   581
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   582
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   583
            fsm->state = ec_fsm_master_state_configure_slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   584
            ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   585
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   586
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   587
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   588
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   589
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   590
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   591
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   592
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   593
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   594
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   595
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   596
/** Master state: READ STATE.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   597
 *
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   598
 * Fetches the AL state of a slave.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   599
 */
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   600
void ec_fsm_master_state_read_state(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   601
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   602
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   603
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   604
    ec_slave_t *slave = fsm->slave;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   605
    ec_datagram_t *datagram = fsm->datagram;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   606
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   607
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   608
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   609
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   610
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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
   611
        EC_ERR("Failed to receive AL state datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   612
                slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   613
        ec_datagram_print_state(datagram);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   614
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   615
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   616
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   617
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   618
    // did the slave not respond to its station address?
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   619
    if (datagram->working_counter != 1) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   620
        if (!slave->error_flag) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   621
            slave->error_flag = 1;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   622
            if (fsm->master->debug_level)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   623
                EC_DBG("Slave %u did not respond to state query.\n",
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   624
                        fsm->slave->ring_position);
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   625
        }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   626
        fsm->topology_change_pending = 1;
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   627
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   628
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   629
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   630
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   631
    // A single slave responded
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   632
    ec_slave_set_state(slave, EC_READ_U8(datagram->data));
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   633
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   634
    if (!slave->error_flag) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   635
        // Check, if new slave state has to be acknowledged
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   636
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   637
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   638
            fsm->state = ec_fsm_master_state_acknowledge;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   639
            ec_fsm_change_ack(&fsm->fsm_change, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   640
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   641
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   642
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   643
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   644
        // No acknowlegde necessary; check for configuration
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   645
        ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   646
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   647
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   648
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   649
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   650
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   651
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   652
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   653
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   654
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   655
/** Master state: ACKNOWLEDGE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   656
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   657
void ec_fsm_master_state_acknowledge(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   658
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   659
        )
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   660
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   661
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   662
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   663
    if (ec_fsm_change_exec(&fsm->fsm_change))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   664
        return;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   665
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   666
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   667
        fsm->slave->error_flag = 1;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   668
        EC_ERR("Failed to acknowledge state change on slave %u.\n",
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   669
               slave->ring_position);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   670
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   671
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   672
    ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   673
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   674
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   675
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   676
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   677
/** Master state: CLEAR ADDRESSES.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   678
 */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   679
void ec_fsm_master_state_clear_addresses(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   680
        ec_fsm_master_t *fsm /**< Master state machine. */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   681
        )
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   682
{
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   683
    ec_master_t *master = fsm->master;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   684
    ec_datagram_t *datagram = fsm->datagram;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   685
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   686
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   687
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   688
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   689
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   690
        EC_ERR("Failed to receive address clearing datagram (state %u).\n",
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   691
                datagram->state);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   692
        master->scan_busy = 0;
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   693
        wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   694
        ec_fsm_master_restart(fsm);
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   695
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   696
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   697
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   698
    if (datagram->working_counter != master->slave_count) {
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   699
        EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   700
                datagram->working_counter, master->slave_count);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   701
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   702
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   703
    if (master->debug_level)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   704
        EC_DBG("Sending broadcast-write to measure transmission delays.\n");
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   705
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   706
    ec_datagram_bwr(datagram, 0x0900, 1);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   707
    ec_datagram_zero(datagram);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   708
    fsm->retries = EC_FSM_RETRIES;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   709
    fsm->state = ec_fsm_master_state_dc_measure_delays;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   710
}
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   711
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   712
/*****************************************************************************/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   713
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   714
/** Master state: DC MEASURE DELAYS.
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   715
 */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   716
void ec_fsm_master_state_dc_measure_delays(
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   717
        ec_fsm_master_t *fsm /**< Master state machine. */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   718
        )
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   719
{
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   720
    ec_master_t *master = fsm->master;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   721
    ec_datagram_t *datagram = fsm->datagram;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   722
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   723
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   724
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   725
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   726
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   727
        EC_ERR("Failed to receive delay measuring datagram (state %u).\n",
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   728
                datagram->state);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   729
        master->scan_busy = 0;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   730
        wake_up_interruptible(&master->scan_queue);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   731
        ec_fsm_master_restart(fsm);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   732
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   733
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   734
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   735
    if (master->debug_level)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   736
        EC_DBG("%u slaves responded to delay measuring.\n",
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   737
                datagram->working_counter);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   738
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   739
    EC_INFO("Scanning bus.\n");
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   740
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   741
    // begin scanning of slaves
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   742
    fsm->slave = master->slaves;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   743
    fsm->state = ec_fsm_master_state_scan_slave;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   744
    ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   745
    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   746
}
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   747
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   748
/*****************************************************************************/
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   749
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   750
/** Master state: SCAN SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   751
 *
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   752
 * Executes the sub-statemachine for the scanning of a slave.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   753
 */
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   754
void ec_fsm_master_state_scan_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   755
        ec_fsm_master_t *fsm /**< Master state machine. */
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   756
        )
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
    ec_master_t *master = fsm->master;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   759
#ifdef EC_EOE
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   760
    ec_slave_t *slave = fsm->slave;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   761
#endif
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   762
    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   763
        return;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   764
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   765
#ifdef EC_EOE
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   766
    if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   767
        // create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   768
        ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   769
        if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   770
            EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   771
                    slave->ring_position);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   772
        } else if (ec_eoe_init(eoe, slave)) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   773
            EC_ERR("Failed to init EoE handler for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   774
                    slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   775
            kfree(eoe);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   776
        } else {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   777
            list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   778
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   779
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   780
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   781
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   782
    // another slave to fetch?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   783
    fsm->slave++;
1002
0e1aaeb3540d Fixed bug in slave scanning, causing a segmentation fault.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   784
    if (fsm->slave < master->slaves + master->slave_count) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   785
        ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   786
        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   787
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   788
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   789
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   790
    EC_INFO("Bus scanning completed in %u ms.\n",
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   791
            (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   792
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   793
    master->scan_busy = 0;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   794
    wake_up_interruptible(&master->scan_queue);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   795
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   796
    ec_master_calc_dc(master);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1444
diff changeset
   797
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   798
    // Attach slave configurations
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   799
    ec_master_attach_slave_configs(master);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   800
716
ac2a81a33d3d Minor fix.
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   801
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   802
    // check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   803
    ec_master_eoe_start(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   804
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   805
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   806
    ec_fsm_master_restart(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   807
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   808
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   809
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   810
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   811
/** Master state: CONFIGURE SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   812
 *
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   813
 * Starts configuring a slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   814
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   815
void ec_fsm_master_state_configure_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   816
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   817
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   818
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   819
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   820
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   821
    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   822
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   823
1277
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   824
    fsm->slave->force_config = 0;
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   825
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   826
    // configuration finished
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   827
    master->config_busy = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   828
    wake_up_interruptible(&master->config_queue);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   829
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   830
    if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   831
        // TODO: mark slave_config as failed.
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   832
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   833
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   834
    fsm->idle = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   835
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   836
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   837
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   838
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   839
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   840
/** Master state: WRITE SII.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   841
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   842
void ec_fsm_master_state_write_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   843
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   844
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   845
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   846
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   847
    ec_sii_write_request_t *request = fsm->sii_request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   848
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   849
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   850
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   851
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   852
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   853
        EC_ERR("Failed to write SII data to slave %u.\n",
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   854
                slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   855
        request->state = EC_INT_REQUEST_FAILURE;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   856
        wake_up(&master->sii_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   857
        ec_fsm_master_restart(fsm);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   858
        return;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   859
    }
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   860
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   861
    fsm->sii_index++;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   862
    if (fsm->sii_index < request->nwords) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   863
        ec_fsm_sii_write(&fsm->fsm_sii, slave,
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   864
                request->offset + fsm->sii_index,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   865
                request->words + fsm->sii_index,
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   866
                EC_FSM_SII_USE_CONFIGURED_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   867
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   868
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   869
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   870
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   871
    // finished writing SII
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   872
    if (master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   873
        EC_DBG("Finished writing %zu words of SII data to slave %u.\n",
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   874
                request->nwords, slave->ring_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   875
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   876
    if (request->offset <= 4 && request->offset + request->nwords > 4) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   877
        // alias was written
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   878
        slave->sii.alias = EC_READ_U16(request->words + 4);
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   879
        // TODO: read alias from register 0x0012
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   880
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   881
    // TODO: Evaluate other SII contents!
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   882
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   883
    request->state = EC_INT_REQUEST_SUCCESS;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   884
    wake_up(&master->sii_queue);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   885
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   886
    // check for another SII write request
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   887
    if (ec_fsm_master_action_process_sii(fsm))
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   888
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   889
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   890
    ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   891
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   892
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   893
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   894
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   895
/** Master state: SDO DICTIONARY.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   896
 */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
   897
void ec_fsm_master_state_sdo_dictionary(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   898
        ec_fsm_master_t *fsm /**< Master state machine. */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
   899
        )
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   900
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   901
    ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   902
    ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   903
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   904
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   905
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   906
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   907
        ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   908
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   909
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   910
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   911
    // SDO dictionary fetching finished
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   912
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   913
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   914
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   915
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   916
        EC_DBG("Fetched %u SDOs and %u entries from slave %u.\n",
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   917
               sdo_count, entry_count, slave->ring_position);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   918
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   919
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
   920
    // attach pdo names from dictionary
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
   921
    ec_slave_attach_pdo_names(slave);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
   922
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   923
    ec_fsm_master_restart(fsm);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   924
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   925
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   926
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   927
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   928
/** Master state: SDO REQUEST.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   929
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   930
void ec_fsm_master_state_sdo_request(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   931
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   932
        )
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   933
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   934
    ec_master_t *master = fsm->master;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   935
    ec_sdo_request_t *request = fsm->sdo_request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   936
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   937
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   938
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   939
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1579
diff changeset
   940
        EC_DBG("Failed to process internal SDO request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   941
                fsm->slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   942
        request->state = EC_INT_REQUEST_FAILURE;
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   943
        wake_up(&fsm->slave->sdo_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   944
        ec_fsm_master_restart(fsm);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   945
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   946
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   947
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   948
    // SDO request finished
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   949
    request->state = EC_INT_REQUEST_SUCCESS;
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   950
    wake_up(&fsm->slave->sdo_queue);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   951
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   952
    if (master->debug_level)
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1579
diff changeset
   953
        EC_DBG("Finished internal SDO request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   954
                fsm->slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   955
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   956
    // check for another SDO request
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   957
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   958
        return; // processing another request
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   959
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   960
    ec_fsm_master_restart(fsm);
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   961
}
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   962
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   963
/*****************************************************************************/
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   964
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   965
/** Master state: REG REQUEST.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   966
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   967
void ec_fsm_master_state_reg_request(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   968
        ec_fsm_master_t *fsm /**< Master state machine. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   969
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   970
{
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   971
    ec_master_t *master = fsm->master;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   972
    ec_datagram_t *datagram = fsm->datagram;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   973
    ec_reg_request_t *request = fsm->reg_request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   974
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   975
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   976
        EC_ERR("Failed to receive register request datagram (state %u).\n",
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   977
                datagram->state);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   978
        request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   979
        wake_up(&master->reg_queue);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   980
        ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   981
        return;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   982
    }
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   983
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   984
    if (datagram->working_counter == 1) {
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   985
        if (request->dir == EC_DIR_INPUT) { // read request
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   986
            if (request->data)
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   987
                kfree(request->data);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   988
            request->data = kmalloc(request->length, GFP_KERNEL);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   989
            if (!request->data) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   990
                EC_ERR("Failed to allocate %zu bytes of memory for"
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   991
                        " register data.\n", request->length);
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   992
                request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   993
                wake_up(&master->reg_queue);
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   994
                ec_fsm_master_restart(fsm);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   995
                return;
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   996
            }
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   997
            memcpy(request->data, datagram->data, request->length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   998
        }
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
   999
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1000
        request->state = EC_INT_REQUEST_SUCCESS;
1892
0c254f0e7f7d Added debugging output for result of register request.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1001
        if (master->debug_level) {
0c254f0e7f7d Added debugging output for result of register request.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1002
            EC_DBG("Register request successful.\n");
0c254f0e7f7d Added debugging output for result of register request.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1003
        }
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1004
    } else {
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1005
        request->state = EC_INT_REQUEST_FAILURE;
1892
0c254f0e7f7d Added debugging output for result of register request.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
  1006
        EC_ERR("Register request failed.\n");
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1007
    }
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1008
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1009
    wake_up(&master->reg_queue);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1010
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1011
    // check for another register request
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1012
    if (ec_fsm_master_action_process_register(fsm))
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1013
        return; // processing another request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1014
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1015
    ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1016
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1017
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1018
/*****************************************************************************/