etherlabmaster: master/fsm.c@14aeb79aa992 (annotated)

238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	12	* License, or (at your option) any later version.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	31	*
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT finite state machines.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "fsm.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "master.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	void ec_fsm_master_start(ec_fsm_t *);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	48	void ec_fsm_master_broadcast(ec_fsm_t *);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	49	void ec_fsm_master_proc_states(ec_fsm_t *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	50	void ec_fsm_master_scan(ec_fsm_t *);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	51	void ec_fsm_master_states(ec_fsm_t *);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	52	void ec_fsm_master_validate_vendor(ec_fsm_t *);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	53	void ec_fsm_master_validate_product(ec_fsm_t *);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	54	void ec_fsm_master_reconfigure(ec_fsm_t *);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	55	void ec_fsm_master_address(ec_fsm_t *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	56	void ec_fsm_master_conf(ec_fsm_t *);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	57	void ec_fsm_master_eeprom(ec_fsm_t *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	58
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	59	void ec_fsm_slave_start_reading(ec_fsm_t *);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	60	void ec_fsm_slave_read_state(ec_fsm_t *);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	void ec_fsm_slave_read_base(ec_fsm_t *);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void ec_fsm_slave_read_dl(ec_fsm_t *);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	63	void ec_fsm_slave_eeprom_size(ec_fsm_t *);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	64	void ec_fsm_slave_fetch_eeprom(ec_fsm_t *);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	65	void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	66	void ec_fsm_slave_end(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	67
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	68	void ec_fsm_slave_conf(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	69	void ec_fsm_slave_sync(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	70	void ec_fsm_slave_preop(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	71	void ec_fsm_slave_fmmu(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	72	void ec_fsm_slave_saveop(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	73	void ec_fsm_slave_op(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	74	void ec_fsm_slave_op2(ec_fsm_t *);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	75
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	void ec_fsm_sii_start_reading(ec_fsm_t *);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	77	void ec_fsm_sii_read_check(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	78	void ec_fsm_sii_read_fetch(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	79	void ec_fsm_sii_start_writing(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	80	void ec_fsm_sii_write_check(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	81	void ec_fsm_sii_write_check2(ec_fsm_t *);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	82	void ec_fsm_sii_end(ec_fsm_t *);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	void ec_fsm_sii_error(ec_fsm_t *);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	84
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	85	void ec_fsm_change_start(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	86	void ec_fsm_change_check(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	87	void ec_fsm_change_status(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	88	void ec_fsm_change_code(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	89	void ec_fsm_change_ack(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	90	void ec_fsm_change_ack2(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	91	void ec_fsm_change_end(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	92	void ec_fsm_change_error(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	93
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	96	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	97	Constructor.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	98	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	99
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	100	int ec_fsm_init(ec_fsm_t fsm, /< finite state machine /
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	101	ec_master_t master /< EtherCAT master /
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	102	)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	fsm->master = master;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	fsm->master_slaves_responding = 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	108	fsm->master_validation = 0;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	109
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	110	ec_datagram_init(&fsm->datagram);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	111	if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	112	EC_ERR("Failed to allocate FSM datagram.\n");
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	return -1;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	return 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	118
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	121	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	122	Destructor.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	123	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	124
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	125	void ec_fsm_clear(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	127	ec_datagram_clear(&fsm->datagram);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	129
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	131
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	132	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	133	Resets the state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	134	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	135
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	136	void ec_fsm_reset(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	fsm->master_slaves_responding = 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	142
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	145	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	146	Executes the current state of the state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	147	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	148
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	149	void ec_fsm_execute(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	fsm->master_state(fsm);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	* master state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	157
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	159	Master state: START.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	Starts with getting slave count and slave states.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	162
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	void ec_fsm_master_start(ec_fsm_t *fsm)
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	165	ec_datagram_brd(&fsm->datagram, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	166	ec_master_queue_datagram(fsm->master, &fsm->datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	167	fsm->master_state = ec_fsm_master_broadcast;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	168	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	169
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	170	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	171
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	172	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	173	Master state: BROADCAST.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	174	Processes the broadcast read slave count and slaves states.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	175	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	176
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	177	void ec_fsm_master_broadcast(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	178	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	179	ec_datagram_t *datagram = &fsm->datagram;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	180	unsigned int topology_change, states_change, i;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	ec_slave_t *slave;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	182	ec_master_t *master = fsm->master;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	183
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	184	if (datagram->state != EC_CMD_RECEIVED) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	185	if (!master->device->link_state) {
254 986afccca9ea Link down treated as topology change in state machine. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	186	fsm->master_slaves_responding = 0;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	187	list_for_each_entry(slave, &master->slaves, list) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	188	slave->online = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	189	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	190	}
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	195
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	196	topology_change = (datagram->working_counter !=
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	197	fsm->master_slaves_responding);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	198	states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	199
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	200	fsm->master_slave_states = EC_READ_U8(datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	201	fsm->master_slaves_responding = datagram->working_counter;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	202
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	203	if (topology_change) {
262 636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	204	EC_INFO("%i slave%s responding.\n",
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	205	fsm->master_slaves_responding,
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	206	fsm->master_slaves_responding == 1 ? "" : "s");
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	207
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	208	if (master->mode == EC_MASTER_MODE_RUNNING) {
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	209	if (fsm->master_slaves_responding == master->slave_count) {
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	210	fsm->master_validation = 1; // start validation later
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	211	}
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	212	else {
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	213	EC_WARN("Invalid slave count. Bus in tainted state.\n");
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	214	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	215	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	216	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	217
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	218	if (states_change) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	219	EC_INFO("Slave states: ");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	220	ec_print_states(fsm->master_slave_states);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	221	printk(".\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	222	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	223
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	224	// topology change in free-run mode: clear all slaves and scan the bus
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	225	if (topology_change && master->mode == EC_MASTER_MODE_FREERUN) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	226	EC_INFO("Scanning bus.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	227
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	228	ec_master_eoe_stop(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	229	ec_master_clear_slaves(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	230
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	231	if (!fsm->master_slaves_responding) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	232	// no slaves present -> finish state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	233	fsm->master_state = ec_fsm_master_start;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	234	fsm->master_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	235	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	236	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	237
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	238	// init slaves
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	239	for (i = 0; i < fsm->master_slaves_responding; i++) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	240	if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	241	GFP_ATOMIC))) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	242	EC_ERR("Failed to allocate slave %i!\n", i);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	243	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	244	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	245	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	246	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	247
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	248	if (ec_slave_init(slave, master, i, i + 1)) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	249	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	250	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	251	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	252	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	253
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	254	if (kobject_add(&slave->kobj)) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	255	EC_ERR("Failed to add kobject.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	256	kobject_put(&slave->kobj); // free
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	257	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	258	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	259	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	260	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	261
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	262	list_add_tail(&slave->list, &master->slaves);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	263	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	264
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	265	// begin scanning of slaves
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	266	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	267	fsm->slave_state = ec_fsm_slave_start_reading;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	268	fsm->master_state = ec_fsm_master_scan;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	269	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	270	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	271	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	272
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	273	// fetch state from each slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	274	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	275	ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	276	ec_master_queue_datagram(master, &fsm->datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	277	fsm->master_state = ec_fsm_master_states;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	278	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	279
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	280	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	281
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	282	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	283	Master action: Get state of next slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	284	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	285
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	286	void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	287	/*< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	288	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	289	ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	290	ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	291
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	292	// have all states been read?
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	293	if (slave->list.next != &master->slaves) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	294	// process next slave
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	295	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	296	ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	297	0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	298	ec_master_queue_datagram(master, &fsm->datagram);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	299	fsm->master_state = ec_fsm_master_states;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	300	return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	301	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	302
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	303	// all slave stated read; check, if a bus validation has to be done
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	304	if (fsm->master_validation) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	305	fsm->master_validation = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	306	list_for_each_entry(slave, &master->slaves, list) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	307	if (slave->online) continue;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	308
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	309	// At least one slave is offline. validate!
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	310	EC_INFO("Validating bus.\n");
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	311	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	312	fsm->master_state = ec_fsm_master_validate_vendor;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	313	fsm->sii_offset = 0x0008; // vendor ID
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	314	fsm->sii_mode = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	315	fsm->sii_state = ec_fsm_sii_start_reading;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	316	fsm->sii_state(fsm); // execute immediately
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	317	return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	318	}
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	319	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	320
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	321	fsm->master_state = ec_fsm_master_proc_states;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	322	fsm->master_state(fsm); // execute immediately
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	323	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	324
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	325	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	326
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	327	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	328	Master state: STATES.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	329	Fetches the AL- and online state of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	330	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	331
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	332	void ec_fsm_master_states(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	333	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	334	ec_slave_t *slave = fsm->slave;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	335	ec_datagram_t *datagram = &fsm->datagram;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	336	uint8_t new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	337
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	338	if (datagram->state != EC_CMD_RECEIVED) {
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	343
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	344	// did the slave not respond to its station address?
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	345	if (datagram->working_counter != 1) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	346	if (slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	347	slave->online = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	348	EC_INFO("Slave %i: offline.\n", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	349	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	350	ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	351	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	352	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	353
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	354	// slave responded
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	355	new_state = EC_READ_U8(datagram->data);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	356	if (!slave->online) { // slave was offline before
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	357	slave->online = 1;
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	358	slave->error_flag = 0; // clear error flag
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	359	slave->current_state = new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	360	EC_INFO("Slave %i: online (", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	361	ec_print_states(new_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	362	printk(").\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	363	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	364	else if (new_state != slave->current_state) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	365	EC_INFO("Slave %i: ", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	366	ec_print_states(slave->current_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	367	printk(" -> ");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	368	ec_print_states(new_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	369	printk(".\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	370	slave->current_state = new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	371	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	372
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	373	ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	374	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	375
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	376	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	377
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	378	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	379	Master state: PROC_STATES.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	380	Processes the slave states.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	381	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	382
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	383	void ec_fsm_master_proc_states(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	384	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	385	ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	386	ec_slave_t *slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	387
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	388	// check if any slaves are not in the state, they're supposed to be
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	389	list_for_each_entry(slave, &master->slaves, list) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	390	if (slave->error_flag \|\|
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	391	!slave->online \|\|
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	392	slave->requested_state == EC_SLAVE_STATE_UNKNOWN \|\|
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	393	slave->current_state == slave->requested_state) continue;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	394
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	395	EC_INFO("Changing state of slave %i from ", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	396	ec_print_states(slave->current_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	397	printk(" to ");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	398	ec_print_states(slave->requested_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	399	printk(".\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	400
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	401	fsm->slave = slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	402	fsm->slave_state = ec_fsm_slave_conf;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	403	fsm->change_new = EC_SLAVE_STATE_INIT;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	404	fsm->change_state = ec_fsm_change_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	405	fsm->master_state = ec_fsm_master_conf;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	406	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	407	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	408	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	409
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	410	if (master->mode == EC_MASTER_MODE_FREERUN) {
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	411	// nothing to configure. check for pending EEPROM write operations.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	412	list_for_each_entry(slave, &master->slaves, list) {
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	413	if (!slave->new_eeprom_data) continue;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	414
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	415	if (!slave->online \|\| slave->error_flag) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	416	kfree(slave->new_eeprom_data);
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	417	slave->new_eeprom_data = NULL;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	418	EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	419	slave->ring_position);
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	420	continue;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	421	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	422
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	423	// found pending EEPROM write operation. execute it!
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	424	EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	425	fsm->sii_offset = 0x0000;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	426	memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	427	fsm->sii_mode = 1;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	428	fsm->sii_state = ec_fsm_sii_start_writing;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	429	fsm->slave = slave;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	430	fsm->master_state = ec_fsm_master_eeprom;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	431	fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	432	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	433	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	434	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	435
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	436	// nothing to do. restart master state machine.
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	437	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	438	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	439	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	440
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	441	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	442
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	443	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	444	Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	445	Validates the vendor ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	446	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	447
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	448	void ec_fsm_master_validate_vendor(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	449	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	450	ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	451
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	452	fsm->sii_state(fsm); // execute SII state machine
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	453
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	454	if (fsm->sii_state == ec_fsm_sii_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	455	fsm->slave->error_flag = 1;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	456	EC_ERR("Failed to validate vendor ID of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	457	slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	458	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	459	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	460	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	462
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	463	if (fsm->sii_state != ec_fsm_sii_end) return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	464
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	465	if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	466	EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	467	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	468	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	469	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	470	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	471
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	472	// vendor ID is ok. check product code.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	473	fsm->master_state = ec_fsm_master_validate_product;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	474	fsm->sii_offset = 0x000A; // product code
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	475	fsm->sii_mode = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	476	fsm->sii_state = ec_fsm_sii_start_reading;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	477	fsm->sii_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	478	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	479
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	480	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	481
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	482	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	483	Master state: VALIDATE_PRODUCT.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	484	Validates the product ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	485	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	486
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	487	void ec_fsm_master_validate_product(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	488	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	489	ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	490
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	491	fsm->sii_state(fsm); // execute SII state machine
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	492
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	493	if (fsm->sii_state == ec_fsm_sii_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	494	fsm->slave->error_flag = 1;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	495	EC_ERR("Failed to validate product code of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	496	slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	497	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	498	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	499	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	500	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	501
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	502	if (fsm->sii_state != ec_fsm_sii_end) return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	503
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	504	if (EC_READ_U32(fsm->sii_value) != slave->sii_product_code) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	505	EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	506	EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	507	EC_READ_U32(fsm->sii_value));
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	508	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	509	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	510	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	511	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	512
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	513	// have all states been validated?
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	514	if (slave->list.next == &fsm->master->slaves) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	515	fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	516	fsm->master_state = ec_fsm_master_reconfigure;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	517	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	518	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	519
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	520	// validate next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	521	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	522	fsm->master_state = ec_fsm_master_validate_vendor;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	523	fsm->sii_offset = 0x0008; // vendor ID
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	524	fsm->sii_mode = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	525	fsm->sii_state = ec_fsm_sii_start_reading;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	526	fsm->sii_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	527	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	528
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	529	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	530
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	531	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	532	Master state: RECONFIGURE.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	533	Looks for slave, that have lost their configuration and writes
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	534	their station address, so that they can be reconfigured later.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	535	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	536
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	537	void ec_fsm_master_reconfigure(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	538	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	539	ec_datagram_t *datagram = &fsm->datagram;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	540
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	541	while (fsm->slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	542	if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	543	fsm->master_state = ec_fsm_master_start;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	544	fsm->master_state(fsm); // execute immediately
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	545	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	546	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	547	// check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	548	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	549	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	550
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	551	EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	552
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	553	// write station address
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	554	ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	555	EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	556	ec_master_queue_datagram(fsm->master, datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	557	fsm->master_state = ec_fsm_master_address;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	558	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	559
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	560	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	561
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	562	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	563	Master state: ADDRESS.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	564	Checks, if the new station address has been written to the slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	565	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	566
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	567	void ec_fsm_master_address(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	568	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	569	ec_slave_t *slave = fsm->slave;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	570	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	571
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	572	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	573	EC_ERR("Failed to write station address on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	574	slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	575	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	576
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	577	if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	578	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	579	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	580	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	581	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	582
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	583	// check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	584	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	585	fsm->master_state = ec_fsm_master_reconfigure;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	586	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	587	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	588
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	589	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	590
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	591	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	592	Master state: SCAN.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	593	Executes the sub-statemachine for the scanning of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	594	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	595
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	596	void ec_fsm_master_scan(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	597	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	ec_master_t *master = fsm->master;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	599	ec_slave_t *slave = fsm->slave;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	600	uint16_t coupler_index, coupler_subindex;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	601	uint16_t reverse_coupler_index, current_coupler_index;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	602	ec_slave_ident_t *ident;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	603
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	604	fsm->slave_state(fsm); // execute slave state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	605
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	606	if (fsm->slave_state != ec_fsm_slave_end) return;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	607
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	608	// have all slaves been fetched?
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	609	if (slave->list.next == &master->slaves) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	610	EC_INFO("Bus scanning completed.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	611
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	612	// identify all slaves and calculate coupler addressing
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	613
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	614	coupler_index = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	615	reverse_coupler_index = 0xFFFF;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	616	current_coupler_index = 0x3FFF;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	617	coupler_subindex = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	618
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	619	list_for_each_entry(slave, &master->slaves, list)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	620	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	621	// search for identification in "database"
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	622	ident = slave_idents;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	623	while (ident->type) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	624	if (ident->vendor_id == slave->sii_vendor_id
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	625	&& ident->product_code == slave->sii_product_code) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	626	slave->type = ident->type;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	627	break;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	628	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	629	ident++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	630	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	631
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	632	if (!slave->type) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	633	EC_WARN("Unknown slave device (vendor 0x%08X,"
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	634	" code 0x%08X) at position %i.\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	635	slave->sii_vendor_id, slave->sii_product_code,
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	636	slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	637	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	638	else {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	639	// if the slave is a bus coupler, change adressing base
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	640	if (slave->type->special == EC_TYPE_BUS_COUPLER) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	641	if (slave->sii_alias)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	642	current_coupler_index = reverse_coupler_index--;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	643	else
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	644	current_coupler_index = coupler_index++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	645	coupler_subindex = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	646	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	647	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	648
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	649	// determine initial state.
290 57a4201cbb0f Introducing infrastructural slaves that do not contain process data. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	650	if ((slave->type &&
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	651	(slave->type->special == EC_TYPE_BUS_COUPLER \|\|
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	652	slave->type->special == EC_TYPE_INFRA))) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	653	slave->requested_state = EC_SLAVE_STATE_OP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	654	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	655	else {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	656	if (master->mode == EC_MASTER_MODE_RUNNING)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	657	slave->requested_state = EC_SLAVE_STATE_PREOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	658	else
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	659	slave->requested_state = EC_SLAVE_STATE_INIT;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	660	}
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	661	slave->error_flag = 0;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	662
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	663	// calculate coupler-based slave address
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	664	slave->coupler_index = current_coupler_index;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	665	slave->coupler_subindex = coupler_subindex;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	666	coupler_subindex++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	667	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	668
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	669	if (master->mode == EC_MASTER_MODE_FREERUN) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	670	// start EoE processing
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	671	ec_master_eoe_start(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	672	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	673
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	674	fsm->master_state = ec_fsm_master_start;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	675	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	676	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	677	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	678
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	679	// process next slave
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	680	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	681	fsm->slave_state = ec_fsm_slave_start_reading;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	682	fsm->slave_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	684
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	685	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	686
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	687	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	688	Master state: CONF.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	689	Starts configuring a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	690	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	691
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	692	void ec_fsm_master_conf(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	693	{
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	694	fsm->slave_state(fsm); // execute slave's state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	695	if (fsm->slave_state != ec_fsm_slave_end) return;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	696	fsm->master_state = ec_fsm_master_proc_states;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	697	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	698	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	699
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	700	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	701
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	702	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	703	Master state: EEPROM.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	704	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	705
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	706	void ec_fsm_master_eeprom(ec_fsm_t fsm /< finite state machine /)
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	707	{
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	708	ec_slave_t *slave = fsm->slave;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	709
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	710	fsm->sii_state(fsm); // execute SII state machine
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	711
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	712	if (fsm->sii_state == ec_fsm_sii_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	713	fsm->slave->error_flag = 1;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	714	EC_ERR("Failed to write EEPROM contents to slave %i.\n",
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	715	slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	716	kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	717	slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	718	fsm->master_state = ec_fsm_master_start;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	719	fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	720	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	721	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	722
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	723	if (fsm->sii_state != ec_fsm_sii_end) return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	724
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	725	fsm->sii_offset++;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	726	if (fsm->sii_offset < slave->new_eeprom_size) {
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	727	memcpy(fsm->sii_value, slave->new_eeprom_data + fsm->sii_offset, 2);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	728	fsm->sii_state = ec_fsm_sii_start_writing;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	729	fsm->sii_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	730	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	731	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	732
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	733	// finished writing EEPROM
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	734	EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	735	kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	736	slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	737
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	738	// restart master state machine.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	739	fsm->master_state = ec_fsm_master_start;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	740	fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	741	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	742	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	743
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	744	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	745	* slave state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	746	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	747
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	748	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	749	Slave state: START_READING.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	750	First state of the slave state machine. Writes the station address to the
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	751	slave, according to its ring position.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	752	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	753
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	754	void ec_fsm_slave_start_reading(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	755	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	756	ec_datagram_t *datagram = &fsm->datagram;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	757
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	758	// write station address
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	759	ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	760	EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	761	ec_master_queue_datagram(fsm->master, datagram);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	762	fsm->slave_state = ec_fsm_slave_read_state;
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	763	}
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	764
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	765	/*****************************************************************************/
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	766
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	767	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	768	Slave state: READ_STATUS.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	769	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	770
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	771	void ec_fsm_slave_read_state(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	772	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	773	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	774
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	775	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	776	fsm->slave->error_flag = 1;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	777	fsm->slave_state = ec_fsm_slave_end;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	778	EC_ERR("Failed to write station address of slave %i.\n",
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	779	fsm->slave->ring_position);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	780	return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	781	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	782
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	783	// Read AL state
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	784	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	785	ec_master_queue_datagram(fsm->master, datagram);
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	786	fsm->slave_state = ec_fsm_slave_read_base;
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	787	}
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	788
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	789	/*****************************************************************************/
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	790
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	791	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	792	Slave state: READ_BASE.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	793	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	794
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	795	void ec_fsm_slave_read_base(ec_fsm_t fsm /< finite state machine /)
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	796	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	797	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	798	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	799
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	800	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	801	fsm->slave->error_flag = 1;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	802	fsm->slave_state = ec_fsm_slave_end;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	803	EC_ERR("Failed to read AL state of slave %i.\n",
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	804	fsm->slave->ring_position);
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	805	return;
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	806	}
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	807
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	808	slave->current_state = EC_READ_U8(datagram->data);
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	809	if (slave->current_state & EC_ACK) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	810	EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	811	slave->ring_position, slave->current_state);
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	812	slave->current_state &= 0x0F;
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	813	}
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	814
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	815	// read base data
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	816	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	817	ec_master_queue_datagram(fsm->master, datagram);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	818	fsm->slave_state = ec_fsm_slave_read_dl;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	819	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	820
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	821	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	822
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	823	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	824	Slave state: READ_DL.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	825	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	826
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	827	void ec_fsm_slave_read_dl(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	828	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	829	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	830	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	831
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	832	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	833	fsm->slave->error_flag = 1;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	834	fsm->slave_state = ec_fsm_slave_end;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	835	EC_ERR("Failed to read base data of slave %i.\n",
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	836	slave->ring_position);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	837	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	838	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	839
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	840	slave->base_type = EC_READ_U8 (datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	841	slave->base_revision = EC_READ_U8 (datagram->data + 1);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	842	slave->base_build = EC_READ_U16(datagram->data + 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	843	slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	844	slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	845
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	846	if (slave->base_fmmu_count > EC_MAX_FMMUS)
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	847	slave->base_fmmu_count = EC_MAX_FMMUS;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	848
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	849	// read data link status
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	850	ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	851	ec_master_queue_datagram(slave->master, datagram);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	852	fsm->slave_state = ec_fsm_slave_eeprom_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	853	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	854
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	855	/*****************************************************************************/
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	856
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	857	/**
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	858	Slave state: EEPROM_SIZE.
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	859	Read the actual size of the EEPROM to allocate the EEPROM image.
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	860	*/
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	861
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	862	void ec_fsm_slave_eeprom_size(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	863	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	864	ec_datagram_t *datagram = &fsm->datagram;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	865	ec_slave_t *slave = fsm->slave;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	uint16_t dl_status;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	867	unsigned int i;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	868
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	869	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	870	fsm->slave->error_flag = 1;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	871	fsm->slave_state = ec_fsm_slave_end;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	872	EC_ERR("Failed to read DL status of slave %i.\n",
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	873	slave->ring_position);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	874	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	875	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	876
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	877	dl_status = EC_READ_U16(datagram->data);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	878	for (i = 0; i < 4; i++) {
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	879	slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	880	slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	881	slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	882	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	883
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	884	// Start fetching EEPROM size
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	885
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	886	fsm->sii_offset = 0x0040; // first category header
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	887	fsm->sii_mode = 1;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	888	fsm->sii_state = ec_fsm_sii_start_reading;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	889	fsm->slave_state = ec_fsm_slave_fetch_eeprom;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	890	fsm->slave_state(fsm); // execute state immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	891	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	892
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	893	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	894
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	895	/**
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	896	Slave state: FETCH_EEPROM.
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	897	*/
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	898
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	899	void ec_fsm_slave_fetch_eeprom(ec_fsm_t fsm /< finite state machine /)
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	900	{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	901	ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	902	uint16_t cat_type, cat_size;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	903
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	904	// execute SII state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	905	fsm->sii_state(fsm);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	906
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	907	if (fsm->sii_state == ec_fsm_sii_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	908	fsm->slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	909	fsm->slave_state = ec_fsm_slave_end;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	910	EC_ERR("Failed to read EEPROM size of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	911	slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	912	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	913	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	914
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	915	if (fsm->sii_state != ec_fsm_sii_end) return;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	916
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	917	cat_type = EC_READ_U16(fsm->sii_value);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	918	cat_size = EC_READ_U16(fsm->sii_value + 2);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	919
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	920	if (cat_type != 0xFFFF) { // not the last category
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	921	fsm->sii_offset += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	922	fsm->sii_state = ec_fsm_sii_start_reading;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	923	fsm->sii_state(fsm); // execute state immediately
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	924	return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	925	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	926
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	927	slave->eeprom_size = (fsm->sii_offset + 1) * 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	928
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	929	if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	930	EC_INFO("Freeing old EEPROM data on slave %i...\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	931	slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	932	kfree(slave->eeprom_data);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	933	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	934
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	935	if (!(slave->eeprom_data =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	936	(uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	937	fsm->slave->error_flag = 1;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	938	fsm->slave_state = ec_fsm_slave_end;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	939	EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	940	slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	941	return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	942	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	943
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	944	// Start fetching EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	945
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	946	fsm->sii_offset = 0x0000;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	947	fsm->sii_mode = 1;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	948	fsm->sii_state = ec_fsm_sii_start_reading;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	949	fsm->slave_state = ec_fsm_slave_fetch_eeprom2;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	950	fsm->slave_state(fsm); // execute state immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	951	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	952
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	953	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	954
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	955	/**
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	956	Slave state: FETCH_EEPROM2.
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	957	*/
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	958
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	959	void ec_fsm_slave_fetch_eeprom2(ec_fsm_t fsm /< finite state machine /)
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	960	{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	961	ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	962	uint16_t *cat_word, cat_type, cat_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	963
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	964	// execute SII state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	965	fsm->sii_state(fsm);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	966
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	967	if (fsm->sii_state == ec_fsm_sii_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	968	fsm->slave->error_flag = 1;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	969	fsm->slave_state = ec_fsm_slave_end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	970	EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	971	slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	972	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	973	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	974
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	975	if (fsm->sii_state != ec_fsm_sii_end) return;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	976
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	977	// 2 words fetched
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	978
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	979	if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	980	memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 4);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	981	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	982	else { // copy the last word
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	983	memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 2);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	984	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	985
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	986	if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	987	// fetch the next 2 words
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	988	fsm->sii_offset += 2;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	989	fsm->sii_state = ec_fsm_sii_start_reading;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	990	fsm->sii_state(fsm); // execute state immediately
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	991	return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	992	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	993
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	994	// Evaluate EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	995
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	996	slave->sii_alias =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	997	EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	998	slave->sii_vendor_id =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	999	EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1000	slave->sii_product_code =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1001	EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1002	slave->sii_revision_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1003	EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1004	slave->sii_serial_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1005	EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1006	slave->sii_rx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1007	EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1008	slave->sii_rx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1009	EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1010	slave->sii_tx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1011	EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1012	slave->sii_tx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1013	EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1014	slave->sii_mailbox_protocols =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1015	EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1016
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1017	// evaluate category data
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1018	cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1019	while (EC_READ_U16(cat_word) != 0xFFFF) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1020	cat_type = EC_READ_U16(cat_word) & 0x7FFF;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1021	cat_size = EC_READ_U16(cat_word + 1);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1022
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1023	switch (cat_type) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1024	case 0x000A:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1025	if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1026	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1027	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1028	case 0x001E:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1029	if (ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2)))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1030	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1031	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1032	case 0x0028:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1033	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1034	case 0x0029:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1035	if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1036	cat_size))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1037	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1038	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1039	case 0x0032:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1040	if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1041	cat_size, EC_TX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1042	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1043	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1044	case 0x0033:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1045	if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1046	cat_size, EC_RX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1047	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1048	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1049	default:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1050	EC_WARN("Unknown category type 0x%04X in slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1051	cat_type, slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1052	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1053
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1054	cat_word += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1055	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1056
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1057	end:
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1058	fsm->slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1059	fsm->slave_state = ec_fsm_slave_end;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1060	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1061
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1062	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1063
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1064	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1065	Slave state: CONF.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1066	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1067
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1068	void ec_fsm_slave_conf(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1069	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1070	ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1071	ec_master_t *master = fsm->master;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1072	ec_datagram_t *datagram = &fsm->datagram;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1073
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1074	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1075
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1076	if (fsm->change_state == ec_fsm_change_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1077	slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1078	fsm->slave_state = ec_fsm_slave_end;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1079	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1080	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1081
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1082	if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1083
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1084	// slave is now in INIT
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1085	if (slave->current_state == slave->requested_state) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1086	fsm->slave_state = ec_fsm_slave_end; // successful
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1087	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1088	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1089
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1090	// check for slave registration
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1091	if (!slave->type) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1092	EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1093	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1094
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1095	// check and reset CRC fault counters
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1096	//ec_slave_check_crc(slave);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1097
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1098	if (!slave->base_fmmu_count) { // no fmmus
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1099	fsm->slave_state = ec_fsm_slave_sync;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1100	fsm->slave_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1101	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1102	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1103
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1104	// reset FMMUs
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1105	ec_datagram_npwr(datagram, slave->station_address, 0x0600,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1106	EC_FMMU_SIZE * slave->base_fmmu_count);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1107	memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1108	ec_master_queue_datagram(master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1109	fsm->slave_state = ec_fsm_slave_sync;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1110	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1111
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1112	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1113
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1114	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1115	Slave state: SYNC.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1116	Configure sync managers.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1117	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1118
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1119	void ec_fsm_slave_sync(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1120	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1121	ec_datagram_t *datagram = &fsm->datagram;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1122	ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1123	unsigned int j;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1124	const ec_sync_t *sync;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1125	ec_eeprom_sync_t *eeprom_sync, mbox_sync;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1126
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1127	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1128	slave->error_flag = 1;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1129	fsm->slave_state = ec_fsm_slave_end;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1130	EC_ERR("Failed to reset FMMUs of slave %i.\n",
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1131	slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1132	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1133	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1134
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1135	if (!slave->base_sync_count) { // no sync managers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1136	fsm->slave_state = ec_fsm_slave_preop;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1137	fsm->slave_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1138	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1139	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1140
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1141	// configure sync managers
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1142	ec_datagram_npwr(datagram, slave->station_address, 0x0800,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1143	EC_SYNC_SIZE * slave->base_sync_count);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1144	memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1145
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1146	// known slave type, take type's SM information
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1147	if (slave->type) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1148	for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1149	sync = slave->type->sync_managers[j];
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1150	ec_sync_config(sync, slave, datagram->data + EC_SYNC_SIZE * j);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1151	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1152	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1153
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1154	// unknown type, but slave has mailbox
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1155	else if (slave->sii_mailbox_protocols)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1156	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1157	// does it supply sync manager configurations in its EEPROM?
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1158	if (!list_empty(&slave->eeprom_syncs)) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1159	list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1160	if (eeprom_sync->index >= slave->base_sync_count) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1161	fsm->slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1162	fsm->slave_state = ec_fsm_slave_end;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1163	EC_ERR("Invalid sync manager configuration found!");
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1164	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1165	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1166	ec_eeprom_sync_config(eeprom_sync,
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1167	datagram->data + EC_SYNC_SIZE
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1168	* eeprom_sync->index);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1169	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1170	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1171
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1172	// no sync manager information; guess mailbox settings
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1173	else {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1174	mbox_sync.physical_start_address =
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1175	slave->sii_rx_mailbox_offset;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1176	mbox_sync.length = slave->sii_rx_mailbox_size;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1177	mbox_sync.control_register = 0x26;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1178	mbox_sync.enable = 1;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1179	ec_eeprom_sync_config(&mbox_sync, datagram->data);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1180
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1181	mbox_sync.physical_start_address =
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1182	slave->sii_tx_mailbox_offset;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1183	mbox_sync.length = slave->sii_tx_mailbox_size;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1184	mbox_sync.control_register = 0x22;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1185	mbox_sync.enable = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1186	ec_eeprom_sync_config(&mbox_sync,
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1187	datagram->data + EC_SYNC_SIZE);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1188	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1189
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1190	EC_INFO("Mailbox configured for unknown slave %i\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1191	slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1192	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1193
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1194	ec_master_queue_datagram(fsm->master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1195	fsm->slave_state = ec_fsm_slave_preop;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1196	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1197
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1198	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1199
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1200	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1201	Slave state: PREOP.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1202	Change slave state to PREOP.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1203	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1204
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1205	void ec_fsm_slave_preop(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1206	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1207	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1208	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1209
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1210	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1211	slave->error_flag = 1;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1212	fsm->slave_state = ec_fsm_slave_end;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1213	EC_ERR("Failed to set sync managers on slave %i.\n",
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1214	slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1215	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1216	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1217
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1218	fsm->change_new = EC_SLAVE_STATE_PREOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1219	fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1220	fsm->slave_state = ec_fsm_slave_fmmu;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1221	fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1222	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1223
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1224	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1225
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1226	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1227	Slave state: FMMU.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1228	Configure FMMUs.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1229	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1230
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1231	void ec_fsm_slave_fmmu(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1232	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1233	ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1234	ec_master_t *master = fsm->master;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1235	ec_datagram_t *datagram = &fsm->datagram;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1236	unsigned int j;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1237
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1238	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1239
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1240	if (fsm->change_state == ec_fsm_change_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1241	slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1242	fsm->slave_state = ec_fsm_slave_end;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1243	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1244	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1245
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1246	if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1247
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1248	// slave is now in PREOP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1249	if (slave->current_state == slave->requested_state) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1250	fsm->slave_state = ec_fsm_slave_end; // successful
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1251	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1252	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1253
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1254	// stop activation here for slaves without type
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1255	if (!slave->type) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1256	fsm->slave_state = ec_fsm_slave_end; // successful
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1257	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1258	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1259
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1260	if (!slave->base_fmmu_count) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1261	fsm->slave_state = ec_fsm_slave_saveop;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1262	fsm->slave_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1263	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1264	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1265
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1266	// configure FMMUs
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1267	ec_datagram_npwr(datagram, slave->station_address,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1268	0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1269	memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1270	for (j = 0; j < slave->fmmu_count; j++) {
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 269 diff changeset	1271	ec_fmmu_config(&slave->fmmus[j], slave,
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1272	datagram->data + EC_FMMU_SIZE * j);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1273	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1274
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1275	ec_master_queue_datagram(master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1276	fsm->slave_state = ec_fsm_slave_saveop;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1277	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1278
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1279	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1280
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1281	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1282	Slave state: SAVEOP.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1283	Set slave state to SAVEOP.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1284	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1285
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1286	void ec_fsm_slave_saveop(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1287	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1288	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1289
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1290	if (fsm->slave->base_fmmu_count && (datagram->state != EC_CMD_RECEIVED \|\|
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1291	datagram->working_counter != 1)) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1292	fsm->slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1293	fsm->slave_state = ec_fsm_slave_end;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1294	EC_ERR("Failed to set FMMUs on slave %i.\n",
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1295	fsm->slave->ring_position);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1296	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1297	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1298
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1299	// set state to SAVEOP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1300	fsm->slave_state = ec_fsm_slave_op;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1301	fsm->change_new = EC_SLAVE_STATE_SAVEOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1302	fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1303	fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1304	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1305
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1306	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1307
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1308	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1309	Slave state: OP.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1310	Set slave state to OP.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1311	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1312
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1313	void ec_fsm_slave_op(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1314	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1315	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1316
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1317	if (fsm->change_state == ec_fsm_change_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1318	fsm->slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1319	fsm->slave_state = ec_fsm_slave_end;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1320	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1321	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1322
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1323	if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1324
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1325	// slave is now in SAVEOP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1326	if (fsm->slave->current_state == fsm->slave->requested_state) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1327	fsm->slave_state = ec_fsm_slave_end; // successful
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1328	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1329	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1330
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1331	// set state to OP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1332	fsm->slave_state = ec_fsm_slave_op2;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1333	fsm->change_new = EC_SLAVE_STATE_OP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1334	fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1335	fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1336	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1337
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1338	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1339
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1340	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1341	Slave state: OP2
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1342	Executes the change state machine, until the OP state is set.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1343	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1344
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1345	void ec_fsm_slave_op2(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1346	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1347	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1348
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1349	if (fsm->change_state == ec_fsm_change_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1350	fsm->slave->error_flag = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1351	fsm->slave_state = ec_fsm_slave_end;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1352	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1353	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1354
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1355	if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1356
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1357	// slave is now in OP
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1358	fsm->slave_state = ec_fsm_slave_end; // successful
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1359	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1360
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1361	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1362
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1363	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1364	Slave state: END.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1365	End state of the slave state machine.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1366	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1367
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1368	void ec_fsm_slave_end(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1369	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1370	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1371
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1372	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1373	* SII state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1374	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1375
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1376	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1377	SII state: START_READING.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1378	Starts reading the slave information interface.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1379	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1380
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1381	void ec_fsm_sii_start_reading(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1382	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1383	ec_datagram_t *datagram = &fsm->datagram;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1384
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1385	// initiate read operation
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1386	if (fsm->sii_mode) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1387	ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1388	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1389	else {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1390	ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1391	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1392
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1393	EC_WRITE_U8 (datagram->data, 0x00); // read-only access
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1394	EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1395	EC_WRITE_U16(datagram->data + 2, fsm->sii_offset);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1396	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1397	fsm->sii_state = ec_fsm_sii_read_check;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1398	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1399
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1400	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1401
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1402	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1403	SII state: READ_CHECK.
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1404	Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1405	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1406
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1407	void ec_fsm_sii_read_check(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1408	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1409	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1410
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1411	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1412	EC_ERR("SII: Reception of read datagram failed.\n");
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1413	fsm->sii_state = ec_fsm_sii_error;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1414	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1415	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1416
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1417	fsm->sii_start = get_cycles();
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1418
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1419	// issue check/fetch datagram
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1420	if (fsm->sii_mode) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1421	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1422	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1423	else {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1424	ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1425	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1426
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1427	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1428	fsm->sii_state = ec_fsm_sii_read_fetch;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1429	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1430
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1431	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1432
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1433	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1434	SII state: READ_FETCH.
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1435	Fetches the result of an SII-read datagram.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1436	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1437
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1438	void ec_fsm_sii_read_fetch(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1439	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1440	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1441
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1442	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1443	EC_ERR("SII: Reception of check/fetch datagram failed.\n");
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1444	fsm->sii_state = ec_fsm_sii_error;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1445	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1446	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1447
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1448	// check "busy bit"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1449	if (EC_READ_U8(datagram->data + 1) & 0x81) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1450	// still busy... timeout?
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1451	if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1452	EC_ERR("SII: Timeout.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1453	fsm->sii_state = ec_fsm_sii_error;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1454	#if 0
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1455	EC_DBG("SII busy: %02X %02X %02X %02X\n",
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1456	EC_READ_U8(datagram->data + 0),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1457	EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1458	EC_READ_U8(datagram->data + 2),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1459	EC_READ_U8(datagram->data + 3));
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1460	#endif
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1461	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1462
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1463	// issue check/fetch datagram again
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1464	if (fsm->sii_mode) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1465	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1466	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1467	else {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1468	ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1469	}
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1470	ec_master_queue_datagram(fsm->master, datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1471	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1472	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1473
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1474	#if 0
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1475	EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1476	EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1477	EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1478	EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1479	EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1480	#endif
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1481
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1482	// SII value received.
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1483	memcpy(fsm->sii_value, datagram->data + 6, 4);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1484	fsm->sii_state = ec_fsm_sii_end;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1485	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1486
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1487	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1488
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1489	/**
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1490	SII state: START_WRITING.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1491	Starts reading the slave information interface.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1492	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1493
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1494	void ec_fsm_sii_start_writing(ec_fsm_t fsm /< finite state machine /)
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1495	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1496	ec_datagram_t *datagram = &fsm->datagram;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1497
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1498	// initiate write operation
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1499	ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1500	EC_WRITE_U8 (datagram->data, 0x01); // enable write access
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1501	EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1502	EC_WRITE_U32(datagram->data + 2, fsm->sii_offset);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1503	memcpy(datagram->data + 6, fsm->sii_value, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1504	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1505	fsm->sii_state = ec_fsm_sii_write_check;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1506	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1507
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1508	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1509
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1510	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1511	SII state: WRITE_CHECK.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1512	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1513
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1514	void ec_fsm_sii_write_check(ec_fsm_t fsm /< finite state machine /)
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1515	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1516	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1517
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1518	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1519	EC_ERR("SII: Reception of write datagram failed.\n");
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1520	fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1521	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1522	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1523
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1524	fsm->sii_start = get_cycles();
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1525
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1526	// issue check/fetch datagram
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1527	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1528	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1529	fsm->sii_state = ec_fsm_sii_write_check2;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1530	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1531
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1532	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1533
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1534	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1535	SII state: WRITE_CHECK2.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1536	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1537
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1538	void ec_fsm_sii_write_check2(ec_fsm_t fsm /< finite state machine /)
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1539	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1540	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1541
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1542	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1543	EC_ERR("SII: Reception of write check datagram failed.\n");
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1544	fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1545	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1546	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1547
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1548	if (EC_READ_U8(datagram->data + 1) & 0x82) {
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1549	// still busy... timeout?
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1550	if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1551	EC_ERR("SII: Write timeout.\n");
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1552	fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1553	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1554
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1555	// issue check/fetch datagram again
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1556	ec_master_queue_datagram(fsm->master, datagram);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1557	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1558	else if (EC_READ_U8(datagram->data + 1) & 0x40) {
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1559	EC_ERR("SII: Write operation failed!\n");
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1560	fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1561	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1562	else { // success
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1563	fsm->sii_state = ec_fsm_sii_end;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1564	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1565	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1566
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1567	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1568
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1569	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1570	SII state: END.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1571	End state of the slave SII state machine.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1572	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1573
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1574	void ec_fsm_sii_end(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1575	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1576	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1577
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1578	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1579
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1580	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1581	SII state: ERROR.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1582	End state of the slave SII state machine.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1583	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1584
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1585	void ec_fsm_sii_error(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1586	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1587	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1588
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1589	/******************************************************************************
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1590	* state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1591	*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1592
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1593	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1594	Change state: START.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1595	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1596
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1597	void ec_fsm_change_start(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1598	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1599	ec_datagram_t *datagram = &fsm->datagram;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1600	ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1601
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1602	// write new state to slave
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1603	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1604	EC_WRITE_U16(datagram->data, fsm->change_new);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1605	ec_master_queue_datagram(fsm->master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1606	fsm->change_state = ec_fsm_change_check;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1607	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1608
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1609	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1610
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1611	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1612	Change state: CHECK.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1613	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1614
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1615	void ec_fsm_change_check(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1616	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1617	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1618	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1619
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1620	if (datagram->state != EC_CMD_RECEIVED) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1621	fsm->change_state = ec_fsm_change_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1622	EC_ERR("Failed to send state datagram to slave %i!\n",
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1623	fsm->slave->ring_position);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1624	return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1625	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1626
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1627	if (datagram->working_counter != 1) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1628	fsm->change_state = ec_fsm_change_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1629	EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1630	" respond.\n", fsm->change_new, fsm->slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1631	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1632	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1633
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1634	fsm->change_start = get_cycles();
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1635
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1636	// read AL status from slave
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1637	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1638	ec_master_queue_datagram(fsm->master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1639	fsm->change_state = ec_fsm_change_status;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1640	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1641
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1642	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1643
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1644	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1645	Change state: STATUS.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1646	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1647
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1648	void ec_fsm_change_status(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1649	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1650	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1651	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1652
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1653	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1654	fsm->change_state = ec_fsm_change_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1655	EC_ERR("Failed to check state 0x%02X on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1656	fsm->change_new, slave->ring_position);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1657	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1658	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1659
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1660	slave->current_state = EC_READ_U8(datagram->data);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1661
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1662	if (slave->current_state == fsm->change_new) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1663	// state has been set successfully
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1664	fsm->change_state = ec_fsm_change_end;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1665	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1666	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1667
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1668	if (slave->current_state & 0x10) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1669	// state change error
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1670	fsm->change_new = slave->current_state & 0x0F;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1671	EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1672	" (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1673	slave->current_state);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1674	// fetch AL status error code
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1675	ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1676	ec_master_queue_datagram(fsm->master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1677	fsm->change_state = ec_fsm_change_code;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1678	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1679	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1680
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1681	if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1682	// timeout while checking
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1683	fsm->change_state = ec_fsm_change_error;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1684	EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1685	fsm->change_new, slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1686	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1687	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1688
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1689	// still old state: check again
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1690	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1691	ec_master_queue_datagram(fsm->master, datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1692	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1693
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1694	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1695
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1696	/**
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1697	Application layer status messages.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1698	*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1699
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1700	const ec_code_msg_t al_status_messages[] = {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1701	{0x0001, "Unspecified error"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1702	{0x0011, "Invalud requested state change"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1703	{0x0012, "Unknown requested state"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1704	{0x0013, "Bootstrap not supported"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1705	{0x0014, "No valid firmware"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1706	{0x0015, "Invalid mailbox configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1707	{0x0016, "Invalid mailbox configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1708	{0x0017, "Invalid sync manager configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1709	{0x0018, "No valid inputs available"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1710	{0x0019, "No valid outputs"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1711	{0x001A, "Synchronisation error"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1712	{0x001B, "Sync manager watchdog"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1713	{0x0020, "Slave needs cold start"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1714	{0x0021, "Slave needs INIT"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1715	{0x0022, "Slave needs PREOP"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1716	{0x0023, "Slave needs SAVEOP"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1717	{}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1718	};
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1719
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1720	/*****************************************************************************/
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1721
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1722	/**
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1723	Change state: CODE.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1724	*/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1725
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1726	void ec_fsm_change_code(ec_fsm_t fsm /< finite state machine /)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1727	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1728	ec_datagram_t *datagram = &fsm->datagram;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1729	ec_slave_t *slave = fsm->slave;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1730	uint32_t code;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1731	const ec_code_msg_t *al_msg;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1732
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1733	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1734	fsm->change_state = ec_fsm_change_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1735	EC_ERR("Reception of AL status code datagram failed.\n");
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1736	return;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1737	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1738
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1739	if ((code = EC_READ_U16(datagram->data))) {
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1740	for (al_msg = al_status_messages; al_msg->code; al_msg++) {
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1741	if (al_msg->code != code) continue;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1742	EC_ERR("AL status message 0x%04X: \"%s\".\n",
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1743	al_msg->code, al_msg->message);
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1744	break;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1745	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1746	if (!al_msg->code)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1747	EC_ERR("Unknown AL status code 0x%04X.\n", code);
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1748	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1749
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1750	// acknowledge "old" slave state
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1751	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1752	EC_WRITE_U16(datagram->data, slave->current_state);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1753	ec_master_queue_datagram(fsm->master, datagram);
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1754	fsm->change_state = ec_fsm_change_ack;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1755	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1756
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1757	/*****************************************************************************/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1758
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1759	/**
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1760	Change state: ACK.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1761	*/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1762
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1763	void ec_fsm_change_ack(ec_fsm_t fsm /< finite state machine /)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1764	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1765	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1766	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1767
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1768	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1769	fsm->change_state = ec_fsm_change_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1770	EC_ERR("Reception of state ack datagram failed.\n");
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1771	return;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1772	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1773
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1774	// read new AL status
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1775	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1776	ec_master_queue_datagram(fsm->master, datagram);
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1777	fsm->change_state = ec_fsm_change_ack2;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1778	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1779
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1780	/*****************************************************************************/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1781
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1782	/**
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1783	Change state: ACK.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1784	Acknowledge 2.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1785	*/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1786
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1787	void ec_fsm_change_ack2(ec_fsm_t fsm /< finite state machine /)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1788	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1789	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1790	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1791
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1792	if (datagram->state != EC_CMD_RECEIVED \|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1793	fsm->change_state = ec_fsm_change_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1794	EC_ERR("Reception of state ack check datagram failed.\n");
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1795	return;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1796	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1797
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1798	slave->current_state = EC_READ_U8(datagram->data);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1799
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1800	if (slave->current_state == fsm->change_new) {
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1801	fsm->change_state = ec_fsm_change_error;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1802	EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1803	slave->current_state, slave->ring_position);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1804	return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1805	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1806
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1807	fsm->change_state = ec_fsm_change_error;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1808	EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1809	" - Timeout!\n", fsm->change_new, slave->ring_position);
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1810	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1811
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1812	/*****************************************************************************/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1813
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1814	/**
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1815	Change state: END.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1816	*/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1817
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1818	void ec_fsm_change_end(ec_fsm_t fsm /< finite state machine /)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1819	{
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1820	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1821
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1822	/*****************************************************************************/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1823
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1824	/**
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1825	Change state: ERROR.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1826	*/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1827
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1828	void ec_fsm_change_error(ec_fsm_t fsm /< finite state machine /)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1829	{
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1830	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1831
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1832	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 06 Jul 2006 08:23:24 +0000
changeset 293	14aeb79aa992
parent 292	2cf6ae0a2419
child 297	ac2a057a8ef2
child 1715	e675450f2174
permissions	-rw-r--r--