author | Florian Pose <fp@igh-essen.com> |
Thu, 20 Nov 2008 12:36:19 +0000 | |
changeset 1317 | 09173a2de40c |
parent 1277 | 1189e040fe12 |
child 1318 | 76b4014391bd |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** \file |
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* |
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* EtherCAT slave configuration 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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#include "fsm_slave_config.h" |
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/*****************************************************************************/ |
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *); |
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *); |
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/*****************************************************************************/ |
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/** Constructor. |
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*/ |
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void ec_fsm_slave_config_init( |
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ec_fsm_slave_config_t *fsm, /**< slave state machine */ |
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ec_datagram_t *datagram, /**< datagram structure to use */ |
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ec_fsm_change_t *fsm_change, /**< State change state machine to use. */ |
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ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */ |
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ec_fsm_pdo_t *fsm_pdo /**< Pdo configuration state machine to use. */ |
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) |
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{ |
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fsm->datagram = datagram; |
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fsm->fsm_change = fsm_change; |
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fsm->fsm_coe = fsm_coe; |
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fsm->fsm_pdo = fsm_pdo; |
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} |
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/*****************************************************************************/ |
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/** Destructor. |
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*/ |
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void ec_fsm_slave_config_clear( |
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ec_fsm_slave_config_t *fsm /**< slave state machine */ |
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) |
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{ |
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} |
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/*****************************************************************************/ |
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/** Start slave configuration state machine. |
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*/ |
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void ec_fsm_slave_config_start( |
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ec_fsm_slave_config_t *fsm, /**< slave state machine */ |
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ec_slave_t *slave /**< slave to configure */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->state = ec_fsm_slave_config_state_start; |
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} |
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/*****************************************************************************/ |
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/** |
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* \return false, if state machine has terminated |
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*/ |
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int ec_fsm_slave_config_running( |
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const ec_fsm_slave_config_t *fsm /**< slave state machine */ |
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) |
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
121 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
122 |
return fsm->state != ec_fsm_slave_config_state_end |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
123 |
&& fsm->state != ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
124 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
125 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
126 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
127 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
128 |
/** Executes the current state of the state machine. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
129 |
* |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
130 |
* If the state machine's datagram is not sent or received yet, the execution |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
131 |
* of the state machine is delayed to the next cycle. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
132 |
* |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
133 |
* \return false, if state machine has terminated |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
134 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
135 |
int ec_fsm_slave_config_exec( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
136 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
137 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
if (fsm->datagram->state == EC_DATAGRAM_SENT |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
140 |
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
141 |
// datagram was not sent or received yet. |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
return ec_fsm_slave_config_running(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
fsm->state(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
return ec_fsm_slave_config_running(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
150 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
151 |
/** |
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
152 |
* \return true, if the state machine terminated gracefully |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
153 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
154 |
int ec_fsm_slave_config_success( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
155 |
const ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
156 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
return fsm->state == ec_fsm_slave_config_state_end; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
/****************************************************************************** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
* Slave configuration state machine |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
165 |
/** Slave configuration state: START. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
166 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
167 |
void ec_fsm_slave_config_state_start( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
168 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
169 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
if (fsm->slave->master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
172 |
EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
} |
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
174 |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
175 |
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
176 |
ec_fsm_change_exec(fsm->fsm_change); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
fsm->state = ec_fsm_slave_config_state_init; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
182 |
/** Slave configuration state: INIT. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
183 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
184 |
void ec_fsm_slave_config_state_init( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
185 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
186 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
ec_master_t *master = fsm->slave->master; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
192 |
if (ec_fsm_change_exec(fsm->fsm_change)) return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
193 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
194 |
if (!ec_fsm_change_success(fsm->fsm_change)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
195 |
if (!fsm->fsm_change->spontaneous_change) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
if (master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
202 |
EC_DBG("Slave %u is now in INIT.\n", slave->ring_position); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
if (!slave->base_fmmu_count) { // skip FMMU configuration |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
ec_fsm_slave_config_enter_mbox_sync(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
if (master->debug_level) |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
211 |
EC_DBG("Clearing FMMU configurations of slave %u...\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
// clear FMMU configurations |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
ec_datagram_fpwr(datagram, slave->station_address, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1180
diff
changeset
|
217 |
ec_datagram_zero(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
fsm->retries = EC_FSM_RETRIES; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
fsm->state = ec_fsm_slave_config_state_clear_fmmus; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
221 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
224 |
/** Slave configuration state: CLEAR FMMU. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
225 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
226 |
void ec_fsm_slave_config_state_clear_fmmus( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
227 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
228 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
fsm->state = ec_fsm_slave_config_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
237 |
EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
fsm->slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
242 |
if (datagram->working_counter != 1) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
244 |
fsm->state = ec_fsm_slave_config_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
245 |
EC_ERR("Failed to clear FMMUs of slave %u: ", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
246 |
fsm->slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
247 |
ec_datagram_print_wc_error(datagram); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
248 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
249 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
250 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
ec_fsm_slave_config_enter_mbox_sync(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
252 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
253 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
254 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
255 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
256 |
/** Check for mailbox sync managers to be configured. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
257 |
*/ |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
258 |
void ec_fsm_slave_config_enter_mbox_sync( |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
259 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
261 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
ec_master_t *master = fsm->slave->master; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
unsigned int i; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
266 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
267 |
// slave is now in INIT |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
268 |
if (slave->current_state == slave->requested_state) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
269 |
fsm->state = ec_fsm_slave_config_state_end; // successful |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
270 |
if (master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
271 |
EC_DBG("Finished configuration of slave %u.\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
272 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
274 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
275 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
276 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
277 |
if (!slave->sii.mailbox_protocols) { |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
278 |
// no mailbox protocols supported |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
279 |
if (master->debug_level) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
280 |
EC_DBG("Slave %u does not support mailbox communication.\n", |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
281 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
282 |
ec_fsm_slave_config_enter_preop(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
283 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
286 |
if (master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
287 |
EC_DBG("Configuring mailbox sync managers of slave %u.\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
289 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
290 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
291 |
if (slave->sii.sync_count >= 2) { // mailbox configuration provided |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
292 |
ec_datagram_fpwr(datagram, slave->station_address, 0x0800, |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
293 |
EC_SYNC_PAGE_SIZE * slave->sii.sync_count); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1180
diff
changeset
|
294 |
ec_datagram_zero(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
for (i = 0; i < 2; i++) { |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
297 |
ec_sync_page(&slave->sii.syncs[i], i, |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
298 |
slave->sii.syncs[i].default_length, |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
299 |
EC_DIR_INVALID, // use default direction |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
datagram->data + EC_SYNC_PAGE_SIZE * i); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
302 |
} else { // no mailbox sync manager configurations provided |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
303 |
ec_sync_t sync; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
if (master->debug_level) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
EC_DBG("Slave %u does not provide" |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
307 |
" mailbox sync manager configurations.\n", |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
ec_datagram_fpwr(datagram, slave->station_address, 0x0800, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
311 |
EC_SYNC_PAGE_SIZE * 2); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1180
diff
changeset
|
312 |
ec_datagram_zero(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
314 |
ec_sync_init(&sync, slave); |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
315 |
sync.physical_start_address = slave->sii.rx_mailbox_offset; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
sync.control_register = 0x26; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
sync.enable = 1; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
318 |
ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size, |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
319 |
EC_DIR_INVALID, // use default direction |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
320 |
datagram->data); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
321 |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
322 |
ec_sync_init(&sync, slave); |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
830
diff
changeset
|
323 |
sync.physical_start_address = slave->sii.tx_mailbox_offset; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
sync.control_register = 0x22; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
sync.enable = 1; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
326 |
ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size, |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
327 |
EC_DIR_INVALID, // use default direction |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
328 |
datagram->data + EC_SYNC_PAGE_SIZE); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
fsm->retries = EC_FSM_RETRIES; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
fsm->state = ec_fsm_slave_config_state_mbox_sync; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
337 |
/** Slave configuration state: SYNC. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
338 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
339 |
void ec_fsm_slave_config_state_mbox_sync( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
340 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
341 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
EC_ERR("Failed to receive sync manager configuration datagram for" |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
352 |
" slave %u (datagram state %u).\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
slave->ring_position, datagram->state); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
if (datagram->working_counter != 1) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
fsm->state = ec_fsm_slave_config_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
360 |
EC_ERR("Failed to set sync managers of slave %u: ", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
ec_datagram_print_wc_error(datagram); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
ec_fsm_slave_config_enter_preop(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
371 |
/** Request PREOP state. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
372 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
373 |
void ec_fsm_slave_config_enter_preop( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
374 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
375 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
376 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
fsm->state = ec_fsm_slave_config_state_preop; |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
378 |
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
379 |
ec_fsm_change_exec(fsm->fsm_change); // execute immediately |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
384 |
/** Slave configuration state: PREOP. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
385 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
386 |
void ec_fsm_slave_config_state_preop( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
387 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
388 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
389 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
390 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
391 |
ec_master_t *master = fsm->slave->master; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
392 |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
393 |
if (ec_fsm_change_exec(fsm->fsm_change)) return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
394 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
395 |
if (!ec_fsm_change_success(fsm->fsm_change)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
396 |
if (!fsm->fsm_change->spontaneous_change) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
397 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
398 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
399 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
400 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
401 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
402 |
// slave is now in PREOP |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
403 |
slave->jiffies_preop = fsm->datagram->jiffies_received; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
404 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
405 |
if (master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
406 |
EC_DBG("Slave %u is now in PREOP.\n", slave->ring_position); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
407 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
408 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
409 |
if (slave->current_state == slave->requested_state) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
fsm->state = ec_fsm_slave_config_state_end; // successful |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
if (master->debug_level) { |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
412 |
EC_DBG("Finished configuration of slave %u.\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
413 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
416 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
417 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
418 |
if (!slave->config) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
EC_DBG("Slave %u is not configured.\n", slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
420 |
ec_fsm_slave_config_enter_safeop(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
421 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
422 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
423 |
|
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
424 |
ec_fsm_slave_config_enter_sdo_conf(fsm); |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
425 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
426 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
427 |
/*****************************************************************************/ |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
428 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
429 |
/** Check for Sdo configurations to be applied. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
430 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
431 |
void ec_fsm_slave_config_enter_sdo_conf( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
432 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
433 |
) |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
434 |
{ |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
435 |
ec_slave_t *slave = fsm->slave; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
436 |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
437 |
// No CoE configuration to be applied? |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration |
1180
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
439 |
ec_fsm_slave_config_enter_pdo_conf(fsm); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
440 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
441 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
443 |
// start Sdo configuration |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
444 |
fsm->state = ec_fsm_slave_config_state_sdo_conf; |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
445 |
fsm->request = list_entry(fsm->slave->config->sdo_configs.next, |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
446 |
ec_sdo_request_t, list); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
447 |
ecrt_sdo_request_write(fsm->request); |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
448 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
449 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
452 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
453 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
454 |
/** Slave configuration state: SDO_CONF. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
455 |
*/ |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
void ec_fsm_slave_config_state_sdo_conf( |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
458 |
) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
459 |
{ |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
460 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
461 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
462 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
463 |
EC_ERR("Sdo configuration failed for slave %u.\n", |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
464 |
fsm->slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
465 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
466 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
467 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
468 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
469 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
470 |
// Another Sdo to configure? |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
471 |
if (fsm->request->list.next != &fsm->slave->config->sdo_configs) { |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
472 |
fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t, |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
473 |
list); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
474 |
ecrt_sdo_request_write(fsm->request); |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
475 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
476 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
477 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
478 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
479 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
480 |
// All Sdos are now configured. |
1180
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
481 |
ec_fsm_slave_config_enter_pdo_conf(fsm); |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
482 |
} |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
483 |
|
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
484 |
/*****************************************************************************/ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
485 |
|
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
486 |
/** PDO_CONF entry function. |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
487 |
*/ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
488 |
void ec_fsm_slave_config_enter_pdo_conf( |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
489 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
490 |
) |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
491 |
{ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
492 |
// Start configuring Pdos |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
493 |
ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave); |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
494 |
fsm->state = ec_fsm_slave_config_state_pdo_conf; |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
495 |
fsm->state(fsm); // execute immediately |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
496 |
} |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
497 |
|
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
498 |
/*****************************************************************************/ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
499 |
|
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
500 |
/** Slave configuration state: PDO_CONF. |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
501 |
*/ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
502 |
void ec_fsm_slave_config_state_pdo_conf( |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
503 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
504 |
) |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
505 |
{ |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
506 |
if (ec_fsm_pdo_exec(fsm->fsm_pdo)) |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
507 |
return; |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
508 |
|
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
509 |
if (!ec_fsm_pdo_success(fsm->fsm_pdo)) { |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
510 |
EC_WARN("Pdo configuration failed on slave %u.\n", |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
511 |
fsm->slave->ring_position); |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
512 |
} |
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
513 |
|
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
514 |
ec_fsm_slave_config_enter_pdo_sync(fsm); |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
515 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
516 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
517 |
/*****************************************************************************/ |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
518 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
519 |
/** Check for Pdo sync managers to be configured. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
520 |
*/ |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
521 |
void ec_fsm_slave_config_enter_pdo_sync( |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
522 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
523 |
) |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
524 |
{ |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
525 |
ec_slave_t *slave = fsm->slave; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
526 |
ec_datagram_t *datagram = fsm->datagram; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
527 |
unsigned int i, offset, num_pdo_syncs; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
528 |
uint8_t sync_index; |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
529 |
const ec_sync_t *sync; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
530 |
const ec_sync_config_t *sync_config; |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
531 |
uint16_t size; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
532 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
533 |
if (slave->sii.mailbox_protocols) { |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
534 |
offset = 2; // slave has mailboxes |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
535 |
} else { |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
536 |
offset = 0; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
537 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
538 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
539 |
if (slave->sii.sync_count <= offset) { |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
540 |
// no Pdo sync managers to configure |
1180
846907b8cc4b
Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents:
1174
diff
changeset
|
541 |
ec_fsm_slave_config_enter_fmmu(fsm); |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
542 |
return; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
543 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
544 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
545 |
num_pdo_syncs = slave->sii.sync_count - offset; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
546 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
547 |
// configure sync managers for process data |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
548 |
ec_datagram_fpwr(datagram, slave->station_address, |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
549 |
0x0800 + EC_SYNC_PAGE_SIZE * offset, |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
550 |
EC_SYNC_PAGE_SIZE * num_pdo_syncs); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1180
diff
changeset
|
551 |
ec_datagram_zero(datagram); |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
552 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
553 |
for (i = 0; i < num_pdo_syncs; i++) { |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
554 |
sync_index = i + offset; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
555 |
sync = &slave->sii.syncs[sync_index]; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
556 |
sync_config = &slave->config->sync_configs[sync_index]; |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
557 |
size = ec_pdo_list_total_size(&sync_config->pdos); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
558 |
ec_sync_page(sync, sync_index, size, sync_config->dir, |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
559 |
datagram->data + EC_SYNC_PAGE_SIZE * i); |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
560 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
561 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
562 |
fsm->retries = EC_FSM_RETRIES; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
563 |
fsm->state = ec_fsm_slave_config_state_pdo_sync; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
564 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
565 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
566 |
/*****************************************************************************/ |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
567 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
568 |
/** Configure Pdo sync managers. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
569 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
570 |
void ec_fsm_slave_config_state_pdo_sync( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
571 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
572 |
) |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
573 |
{ |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
574 |
ec_datagram_t *datagram = fsm->datagram; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
575 |
ec_slave_t *slave = fsm->slave; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
576 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
577 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
578 |
return; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
579 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
580 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
581 |
fsm->state = ec_fsm_slave_config_state_error; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
582 |
EC_ERR("Failed to receive process data sync manager configuration" |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
583 |
" datagram for slave %u (datagram state %u).\n", |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
584 |
slave->ring_position, datagram->state); |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
585 |
return; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
586 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
587 |
|
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
588 |
if (datagram->working_counter != 1) { |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
589 |
slave->error_flag = 1; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
590 |
fsm->state = ec_fsm_slave_config_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
591 |
EC_ERR("Failed to set process data sync managers of slave %u: ", |
888
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
592 |
slave->ring_position); |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
593 |
ec_datagram_print_wc_error(datagram); |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
594 |
return; |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
595 |
} |
f0db19108bba
Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents:
879
diff
changeset
|
596 |
|
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
597 |
ec_fsm_slave_config_enter_fmmu(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
598 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
599 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
600 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
601 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
602 |
/** Check for FMMUs to be configured. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
603 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
604 |
void ec_fsm_slave_config_enter_fmmu( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
605 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
606 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
607 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
608 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
609 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
610 |
unsigned int i; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
611 |
const ec_fmmu_config_t *fmmu; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
612 |
const ec_sync_t *sync; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
613 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
614 |
if (slave->base_fmmu_count < slave->config->used_fmmus) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
615 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
616 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
617 |
EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n", |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
618 |
slave->ring_position, slave->base_fmmu_count, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
619 |
slave->config->used_fmmus); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
620 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
621 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
622 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
623 |
if (!slave->base_fmmu_count) { // skip FMMU configuration |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
624 |
ec_fsm_slave_config_enter_safeop(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
625 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
626 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
627 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
628 |
// configure FMMUs |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
629 |
ec_datagram_fpwr(datagram, slave->station_address, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
630 |
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1180
diff
changeset
|
631 |
ec_datagram_zero(datagram); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
632 |
for (i = 0; i < slave->config->used_fmmus; i++) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
633 |
fmmu = &slave->config->fmmu_configs[i]; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1053
diff
changeset
|
634 |
if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) { |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
635 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
636 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
637 |
EC_ERR("Failed to determine Pdo sync manager for FMMU on slave" |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
638 |
" %u!\n", slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
639 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
640 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
641 |
ec_fmmu_config_page(fmmu, sync, |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
642 |
datagram->data + EC_FMMU_PAGE_SIZE * i); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
643 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
644 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
645 |
fsm->retries = EC_FSM_RETRIES; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
646 |
fsm->state = ec_fsm_slave_config_state_fmmu; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
647 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
648 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
649 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
650 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
651 |
/** Slave configuration state: FMMU. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
652 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
653 |
void ec_fsm_slave_config_state_fmmu( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
654 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
655 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
656 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
657 |
ec_datagram_t *datagram = fsm->datagram; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
658 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
659 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
660 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
661 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
662 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
663 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
664 |
fsm->state = ec_fsm_slave_config_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
665 |
EC_ERR("Failed to receive FMMUs datagram for slave %u" |
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
666 |
" (datagram state %u).\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
667 |
slave->ring_position, datagram->state); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
668 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
669 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
670 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
671 |
if (datagram->working_counter != 1) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
672 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
673 |
fsm->state = ec_fsm_slave_config_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
674 |
EC_ERR("Failed to set FMMUs of slave %u: ", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
675 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
676 |
ec_datagram_print_wc_error(datagram); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
677 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
678 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
679 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
680 |
ec_fsm_slave_config_enter_safeop(fsm); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
681 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
682 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
683 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
684 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
685 |
/** Request SAFEOP state. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
686 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
687 |
void ec_fsm_slave_config_enter_safeop( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
688 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
689 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
690 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
691 |
fsm->state = ec_fsm_slave_config_state_safeop; |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
692 |
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
693 |
ec_fsm_change_exec(fsm->fsm_change); // execute immediately |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
694 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
695 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
696 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
697 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
698 |
/** Slave configuration state: SAFEOP. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
699 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
700 |
void ec_fsm_slave_config_state_safeop( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
701 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
702 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
703 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
704 |
ec_master_t *master = fsm->slave->master; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
705 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
706 |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
707 |
if (ec_fsm_change_exec(fsm->fsm_change)) return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
708 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
709 |
if (!ec_fsm_change_success(fsm->fsm_change)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
710 |
if (!fsm->fsm_change->spontaneous_change) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
711 |
fsm->slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
712 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
713 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
714 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
715 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
716 |
// slave is now in SAFEOP |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
717 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
718 |
if (master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
719 |
EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
720 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
721 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
722 |
if (fsm->slave->current_state == fsm->slave->requested_state) { |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
723 |
fsm->state = ec_fsm_slave_config_state_end; // successful |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
724 |
if (master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
725 |
EC_DBG("Finished configuration of slave %u.\n", |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
726 |
slave->ring_position); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
727 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
728 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
729 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
730 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
731 |
// set state to OP |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
732 |
fsm->state = ec_fsm_slave_config_state_op; |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
733 |
ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
734 |
ec_fsm_change_exec(fsm->fsm_change); // execute immediately |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
735 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
736 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
737 |
/*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
738 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
739 |
/** Slave configuration state: OP |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
740 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
741 |
void ec_fsm_slave_config_state_op( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
742 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
743 |
) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
744 |
{ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
745 |
ec_master_t *master = fsm->slave->master; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
746 |
ec_slave_t *slave = fsm->slave; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
747 |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
748 |
if (ec_fsm_change_exec(fsm->fsm_change)) return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
749 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
750 |
if (!ec_fsm_change_success(fsm->fsm_change)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1173
diff
changeset
|
751 |
if (!fsm->fsm_change->spontaneous_change) |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
752 |
slave->error_flag = 1; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
753 |
fsm->state = ec_fsm_slave_config_state_error; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
754 |
return; |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
755 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
756 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
757 |
// slave is now in OP |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
758 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
759 |
if (master->debug_level) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
760 |
EC_DBG("Slave %u is now in OP.\n", slave->ring_position); |
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
761 |
EC_DBG("Finished configuration of slave %u.\n", slave->ring_position); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
762 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
763 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
764 |
fsm->state = ec_fsm_slave_config_state_end; // successful |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
765 |
} |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
766 |
|
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
767 |
/****************************************************************************** |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
768 |
* Common state functions |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
769 |
*****************************************************************************/ |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
770 |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
771 |
/** State: ERROR. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
772 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
773 |
void ec_fsm_slave_config_state_error( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
774 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
775 |
) |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
776 |
{ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
777 |
} |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
778 |
|
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
779 |
/*****************************************************************************/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
780 |
|
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
781 |
/** State: END. |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
782 |
*/ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
783 |
void ec_fsm_slave_config_state_end( |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
784 |
ec_fsm_slave_config_t *fsm /**< slave state machine */ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
785 |
) |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
786 |
{ |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
787 |
} |
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
788 |
|
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
789 |
/*****************************************************************************/ |