etherlabmaster: master/fsm_slave_config.c@1d4bca6ba543 (annotated)

830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	30	/** \file
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	31	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	32	* EtherCAT slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	33	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	37	#include <asm/div64.h>
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	38
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "globals.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "master.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "mailbox.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "fsm_slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
1889 131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	47	/** Time difference [ns] to tolerate without setting a new system time offset.
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	48	*/
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	49	#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	50
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	51	/*****************************************************************************/
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	52
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	56	void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	57	void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	58	void ec_fsm_slave_config_state_dc_read_offset(ec_fsm_slave_config_t *);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	59	void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	61	void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	63	void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	64	void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	65	void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	66	void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	67	void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	69	void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	70	void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	71	void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	74
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	75	void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	76	void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	77	void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	79	void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	81	void ec_fsm_slave_config_enter_soe_conf(ec_fsm_slave_config_t *);
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	82	void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	83	void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	84	void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	85	void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	87	void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	92
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	93	void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	94
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	96
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	/** Constructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	99	void ec_fsm_slave_config_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	100	ec_fsm_slave_config_t fsm, /< slave state machine /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	101	ec_datagram_t datagram, /< datagram structure to use /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	102	ec_fsm_change_t fsm_change, /< State change state machine to use. /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	103	ec_fsm_coe_t fsm_coe, /< CoE state machine to use. /
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	104	ec_fsm_pdo_t fsm_pdo /< PDO configuration state machine to use. /
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	{
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	107	ec_sdo_request_init(&fsm->request_copy);
1849 0a660edc7180 Fixed segfault - Initialize SoE request properly. Florian Pose <fp@igh-essen.com> parents: 1844 diff changeset	108	ec_soe_request_init(&fsm->soe_request_copy);
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	109
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	fsm->datagram = datagram;
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	111	fsm->fsm_change = fsm_change;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	112	fsm->fsm_coe = fsm_coe;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	113	fsm->fsm_pdo = fsm_pdo;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	117
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	/** Destructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	120	void ec_fsm_slave_config_clear(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	121	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	122	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	{
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	124	ec_sdo_request_clear(&fsm->request_copy);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	125	ec_soe_request_clear(&fsm->soe_request_copy);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	127
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	129
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	130	/** Start slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	131	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	132	void ec_fsm_slave_config_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	133	ec_fsm_slave_config_t fsm, /< slave state machine /
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	ec_slave_t slave /< slave to configure /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	fsm->slave = slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	fsm->state = ec_fsm_slave_config_state_start;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	140
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	142
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	144	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	145	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	146	int ec_fsm_slave_config_running(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	147	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	148	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	return fsm->state != ec_fsm_slave_config_state_end
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	&& fsm->state != ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	156	/** Executes the current state of the state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	157	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	158	* If the state machine's datagram is not sent or received yet, the execution
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	159	* of the state machine is delayed to the next cycle.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	160	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	161	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	162	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	163	int ec_fsm_slave_config_exec(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	164	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	165	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	if (fsm->datagram->state == EC_DATAGRAM_SENT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	\|\| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	// datagram was not sent or received yet.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	172
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	fsm->state(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	176
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	178
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	180	* \return true, if the state machine terminated gracefully
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	181	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	182	int ec_fsm_slave_config_success(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	183	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	184	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	return fsm->state == ec_fsm_slave_config_state_end;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	* Slave configuration state machine
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	192
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	193	/** Slave configuration state: START.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	194	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	195	void ec_fsm_slave_config_state_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	196	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	197	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	if (fsm->slave->master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	200	EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	202
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	203	ec_fsm_slave_config_enter_init(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	204	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	205
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	206	/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	207
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	208	/** Start state change to INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	209	*/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	210	void ec_fsm_slave_config_enter_init(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	211	ec_fsm_slave_config_t fsm /< slave state machine /
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	212	)
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	213	{
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	214	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	215	ec_fsm_change_exec(fsm->fsm_change);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	fsm->state = ec_fsm_slave_config_state_init;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	218
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	220
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	221	/** Slave configuration state: INIT.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	222	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	223	void ec_fsm_slave_config_state_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	224	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	225	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	230
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	231	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	232
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	233	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	234	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	239
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	241	EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	243
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	if (!slave->base_fmmu_count) { // skip FMMU configuration
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	245	ec_fsm_slave_config_enter_clear_sync(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	248
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	if (master->debug_level)
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	250	EC_DBG("Clearing FMMU configurations of slave %u...\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	252
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	// clear FMMU configurations
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	256	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	fsm->state = ec_fsm_slave_config_state_clear_fmmus;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	260
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	262
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	263	/** Slave configuration state: CLEAR FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	264	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	265	void ec_fsm_slave_config_state_clear_fmmus(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	266	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	267	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	270
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	273
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	276	EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	280
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	284	EC_ERR("Failed to clear FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	289
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	290	ec_fsm_slave_config_enter_clear_sync(fsm);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	291	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	292
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	293	/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	294
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	295	/** Clear the sync manager configurations.
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	296	*/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	297	void ec_fsm_slave_config_enter_clear_sync(
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	298	ec_fsm_slave_config_t fsm /< slave state machine /
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	299	)
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	300	{
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	301	ec_slave_t *slave = fsm->slave;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	302	ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	303	size_t sync_size;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	304
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	305	if (!slave->base_sync_count) {
1404 b7ea043d5081 Minor changes. Florian Pose <fp@igh-essen.com> parents: 1396 diff changeset	306	// no sync managers
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	307	ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	308	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	309	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	310
1344 e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	311	if (slave->master->debug_level)
e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	312	EC_DBG("Clearing sync manager configurations of slave %u...\n",
e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	313	slave->ring_position);
e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	314
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	315	sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	316
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	317	// clear sync manager configurations
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	318	ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
1896 1d4bca6ba543 Use ec_datagram_zero() wherever possible. Florian Pose <fp@igh-essen.com> parents: 1889 diff changeset	319	ec_datagram_zero(datagram);
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	320	fsm->retries = EC_FSM_RETRIES;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	321	fsm->state = ec_fsm_slave_config_state_clear_sync;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	322	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	323
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	324	/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	325
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	326	/** Slave configuration state: CLEAR SYNC.
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	327	*/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	328	void ec_fsm_slave_config_state_clear_sync(
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	329	ec_fsm_slave_config_t fsm /< slave state machine /
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	330	)
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	331	{
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	332	ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	333
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	334	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	335	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	336
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	337	if (datagram->state != EC_DATAGRAM_RECEIVED) {
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	338	fsm->state = ec_fsm_slave_config_state_error;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	339	EC_ERR("Failed receive sync manager clearing datagram"
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	340	" for slave %u.\n", fsm->slave->ring_position);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	341	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	342	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	343
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	344	if (datagram->working_counter != 1) {
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	345	fsm->slave->error_flag = 1;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	346	fsm->state = ec_fsm_slave_config_state_error;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	347	EC_ERR("Failed to clear sync manager configurations of slave %u: ",
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	348	fsm->slave->ring_position);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	349	ec_datagram_print_wc_error(datagram);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	350	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	351	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	352
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	353	ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	354	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	355
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	356	/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	357
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	358	/** Clear the DC assignment.
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	359	*/
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	360	void ec_fsm_slave_config_enter_dc_clear_assign(
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	361	ec_fsm_slave_config_t fsm /< slave state machine /
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	362	)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	363	{
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	364	ec_slave_t *slave = fsm->slave;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	365	ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	366
1419 8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph. Florian Pose <fp@igh-essen.com> parents: 1412 diff changeset	367	if (!slave->base_dc_supported \|\| !slave->has_dc_system_time) {
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	368	ec_fsm_slave_config_enter_mbox_sync(fsm);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	369	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	370	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	371
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	372	if (slave->master->debug_level)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	373	EC_DBG("Clearing DC assignment of slave %u...\n",
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	374	slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	375
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	376	ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	377	ec_datagram_zero(datagram);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	378	fsm->retries = EC_FSM_RETRIES;
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	379	fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	380	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	381
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	382	/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	383
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	384	/** Slave configuration state: CLEAR DC ASSIGN.
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	385	*/
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	386	void ec_fsm_slave_config_state_dc_clear_assign(
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	387	ec_fsm_slave_config_t fsm /< slave state machine /
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	388	)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	389	{
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	390	ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	391
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	392	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	393	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	394
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	395	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	396	fsm->state = ec_fsm_slave_config_state_error;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	397	EC_ERR("Failed receive DC assignment clearing datagram"
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	398	" for slave %u.\n", fsm->slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	399	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	400	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	401
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	402	if (fsm->slave->master->debug_level && datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	403	// clearing the DC assignment does not succeed on simple slaves
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	404	EC_DBG("Failed to clear DC assignment of slave %u: ",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	405	fsm->slave->ring_position);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	406	ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	407	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	408
1889 131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	409	// read DC system time (0x0910, 64 bit)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	410	// gap (64 bit)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	411	// and time offset (0x0920, 64 bit)
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	412	ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0910, 24);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	413	fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	414	fsm->state = ec_fsm_slave_config_state_dc_read_offset;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	415	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	416
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	417	/*****************************************************************************/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	418
1889 131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	419	#define ABS(X) ((X) >= 0 ? (X) : -(X))
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	420
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	421	/** Configure 32 bit time offset.
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	422	*/
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	423	u64 ec_fsm_slave_config_dc_offset32(
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	424	ec_fsm_slave_config_t fsm, /< slave state machine /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	425	u64 system_time, /*< System time register. /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	426	u64 old_offset, /*< Time offset register. /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	427	unsigned long jiffies_since_read /*< Jiffies for correction. /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	428	)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	429	{
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	430	ec_slave_t *slave = fsm->slave;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	431	u32 correction, system_time32, old_offset32, new_offset;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	432	s32 time_diff;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	433
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	434	system_time32 = (u32) system_time;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	435	old_offset32 = (u32) old_offset;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	436
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	437	// correct read system time by elapsed time since read operation
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	438	correction = jiffies_since_read * 1000 / HZ * 1000000;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	439	system_time32 += correction;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	440	time_diff = (u32) slave->master->app_time - system_time32;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	441
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	442	if (slave->master->debug_level)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	443	EC_DBG("Slave %u: system_time=%u (corrected with %u),"
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	444	" app_time=%u, diff=%i\n",
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	445	slave->ring_position, system_time32, correction,
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	446	(u32) slave->master->app_time, time_diff);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	447
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	448	if (ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	449	new_offset = time_diff + old_offset32;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	450	if (slave->master->debug_level)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	451	EC_DBG("Slave %u: Setting time offset to %u (was %u)\n",
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	452	slave->ring_position, new_offset, old_offset32);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	453	return (u64) new_offset;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	454	} else {
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	455	if (slave->master->debug_level)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	456	EC_DBG("Slave %u: Not touching time offset.\n",
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	457	slave->ring_position);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	458	return old_offset;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	459	}
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	460	}
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	461
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	462	/*****************************************************************************/
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	463
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	464	/** Configure 64 bit time offset.
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	465	*/
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	466	u64 ec_fsm_slave_config_dc_offset64(
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	467	ec_fsm_slave_config_t fsm, /< slave state machine /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	468	u64 system_time, /*< System time register. /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	469	u64 old_offset, /*< Time offset register. /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	470	unsigned long jiffies_since_read /*< Jiffies for correction. /
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	471	)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	472	{
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	473	ec_slave_t *slave = fsm->slave;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	474	u64 new_offset, correction;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	475	s64 time_diff;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	476
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	477	// correct read system time by elapsed time since read operation
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	478	correction = (u64) (jiffies_since_read * 1000 / HZ) * 1000000;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	479	system_time += correction;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	480	time_diff = fsm->slave->master->app_time - system_time;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	481
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	482	if (slave->master->debug_level)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	483	EC_DBG("Slave %u: system_time=%llu (corrected with %llu),"
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	484	" app_time=%llu, diff=%lli\n",
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	485	slave->ring_position, system_time, correction,
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	486	slave->master->app_time, time_diff);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	487
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	488
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	489	if (ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	490	new_offset = time_diff + old_offset;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	491	if (slave->master->debug_level)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	492	EC_DBG("Slave %u: Setting time offset to %llu (was %llu)\n",
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	493	slave->ring_position, new_offset, old_offset);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	494	} else {
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	495	new_offset = old_offset;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	496	if (slave->master->debug_level)
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	497	EC_DBG("Slave %u: Not touching time offset.\n",
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	498	slave->ring_position);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	499	}
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	500
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	501	return new_offset;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	502	}
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	503
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	504	/*****************************************************************************/
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	505
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	506	/** Slave configuration state: DC READ OFFSET.
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	507	*/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	508	void ec_fsm_slave_config_state_dc_read_offset(
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	509	ec_fsm_slave_config_t fsm /< slave state machine /
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	510	)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	511	{
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	512	ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	513	ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	514	u64 system_time, old_offset, new_offset;
1889 131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	515	unsigned long jiffies_since_read;
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	516
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	517	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	518	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	519
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	520	if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	521	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	522	EC_ERR("Failed to receive DC times datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	523	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	524	ec_datagram_print_state(datagram);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	525	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	526	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	527
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	528	if (datagram->working_counter != 1) {
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	529	slave->error_flag = 1;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	530	fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	531	EC_ERR("Failed to get DC times of slave %u: ",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	532	slave->ring_position);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	533	ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	534	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	535	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	536
1889 131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	537	system_time = EC_READ_U64(datagram->data); // 0x0910
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	538	old_offset = EC_READ_U64(datagram->data + 16); // 0x0920
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	539	jiffies_since_read = jiffies - datagram->jiffies_sent;
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	540
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	541	if (slave->base_dc_range == EC_DC_32) {
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	542	new_offset = ec_fsm_slave_config_dc_offset32(fsm,
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	543	system_time, old_offset, jiffies_since_read);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	544	} else {
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	545	new_offset = ec_fsm_slave_config_dc_offset64(fsm,
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	546	system_time, old_offset, jiffies_since_read);
131f655c03d3 Improved DC tome offset calculation: Florian Pose <fp@igh-essen.com> parents: 1873 diff changeset	547	}
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	548
1430 97ab86a9b1d7 Set system time transmission delay during config. Florian Pose <fp@igh-essen.com> parents: 1419 diff changeset	549	// set DC system time offset and transmission delay
97ab86a9b1d7 Set system time transmission delay during config. Florian Pose <fp@igh-essen.com> parents: 1419 diff changeset	550	ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	551	EC_WRITE_U64(datagram->data, new_offset);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1491 diff changeset	552	EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	553	fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	554	fsm->state = ec_fsm_slave_config_state_dc_write_offset;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	555	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	556
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	557	/*****************************************************************************/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	558
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	559	/** Slave configuration state: DC WRITE OFFSET.
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	560	*/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	561	void ec_fsm_slave_config_state_dc_write_offset(
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	562	ec_fsm_slave_config_t fsm /< slave state machine /
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	563	)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	564	{
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	565	ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	566	ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	567
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	568	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	569	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	570
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	571	if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	572	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	573	EC_ERR("Failed to receive DC system time offset datagram for"
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	574	" slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	575	ec_datagram_print_state(datagram);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	576	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	577	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	578
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	579	if (datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	580	slave->error_flag = 1;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	581	fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	582	EC_ERR("Failed to set DC system time offset of slave %u: ",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	583	slave->ring_position);
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	584	ec_datagram_print_wc_error(datagram);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	585	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	586	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	587
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	588	ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	589	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	590
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	591	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	592
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	593	/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	594	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	595	void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	596	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	597	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	599	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	600	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	601	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	602	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	603
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	604	// slave is now in INIT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	605	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	606	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	607	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	608	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	609	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	610	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	611	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	612	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	613
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	614	if (!slave->sii.mailbox_protocols) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	615	// no mailbox protocols supported
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	616	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	617	EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	slave->ring_position);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	619	ec_fsm_slave_config_enter_boot_preop(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	620	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	621	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	622
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	623	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	624	EC_DBG("Configuring mailbox sync managers of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	625	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	626	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	627
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	628	if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	629	ec_sync_t sync;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	630
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	631	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	632	EC_SYNC_PAGE_SIZE * 2);
1896 1d4bca6ba543 Use ec_datagram_zero() wherever possible. Florian Pose <fp@igh-essen.com> parents: 1889 diff changeset	633	ec_datagram_zero(datagram);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	634
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	635	ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	636	sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	637	sync.control_register = 0x26;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	638	sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	639	ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	640	EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	641	datagram->data);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	642	slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	643	slave->sii.boot_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	644	slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	645	slave->sii.boot_rx_mailbox_size;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	646
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	647	ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	648	sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	649	sync.control_register = 0x22;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	650	sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	651	ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	652	EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	653	datagram->data + EC_SYNC_PAGE_SIZE);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	654	slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	655	slave->sii.boot_tx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	656	slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	657	slave->sii.boot_tx_mailbox_size;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	658
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	659	} else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	660	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	661	EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	662	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	663
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	664	for (i = 0; i < 2; i++) {
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	665	ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	666	slave->sii.syncs[i].default_length,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	667	NULL, // use default sync manager configuration
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	668	datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	669	}
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	670
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	671	slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	672	slave->sii.syncs[0].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	673	slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	674	slave->sii.syncs[0].default_length;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	675	slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	676	slave->sii.syncs[1].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	677	slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	678	slave->sii.syncs[1].default_length;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	679	} else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	680	ec_sync_t sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	681
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	682	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	684	" mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	685	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	686
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	687	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	688	EC_SYNC_PAGE_SIZE * 2);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	689	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	690
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	691	ec_sync_init(&sync, slave);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	692	sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	693	sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	694	sync.enable = 1;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	695	ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	696	NULL, // use default sync manager configuration
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	697	datagram->data);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	698	slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	699	slave->sii.std_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	700	slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	701	slave->sii.std_rx_mailbox_size;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	702
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	703	ec_sync_init(&sync, slave);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	704	sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	705	sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	706	sync.enable = 1;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	707	ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	708	NULL, // use default sync manager configuration
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	709	datagram->data + EC_SYNC_PAGE_SIZE);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	710	slave->configured_tx_mailbox_offset =
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	711	slave->sii.std_tx_mailbox_offset;
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	712	slave->configured_tx_mailbox_size =
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	713	slave->sii.std_tx_mailbox_size;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	714	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	715
1347 41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	716	fsm->take_time = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	717
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	718	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	719	fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	720	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	721
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	722	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	723
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	724	/** Slave configuration state: SYNC.
1345 b715e719eeea TODO. Florian Pose <fp@igh-essen.com> parents: 1344 diff changeset	725	*
b715e719eeea TODO. Florian Pose <fp@igh-essen.com> parents: 1344 diff changeset	726	* \todo Timeout for response.
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	727	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	728	void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	729	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	730	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	731	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	732	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	733	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	734
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	735	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	736	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	737
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	738	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	740	EC_ERR("Failed to receive sync manager configuration datagram for"
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	741	" slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	742	ec_datagram_print_state(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	743	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	744	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	745
1347 41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	746	if (fsm->take_time) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	747	fsm->take_time = 0;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	748	fsm->jiffies_start = datagram->jiffies_sent;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	749	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	750
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	751	/* Because the sync manager configurations are cleared during the last
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	752	* cycle, some slaves do not immediately respond to the mailbox sync
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	753	* manager configuration datagram. Therefore, resend the datagram for
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	754	* a certain time, if the slave does not respond.
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	755	*/
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	756	if (datagram->working_counter == 0) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	757	unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	758
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	759	if (diff >= HZ) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	760	slave->error_flag = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	761	fsm->state = ec_fsm_slave_config_state_error;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	762	EC_ERR("Timeout while configuring mailbox sync managers of"
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	763	" slave %u.\n", slave->ring_position);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	764	return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	765	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	766	else if (slave->master->debug_level) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	767	EC_DBG("Resending after %u ms...\n",
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	768	(unsigned int) diff * 1000 / HZ);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	769	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	770
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	771	// send configuration datagram again
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	772	fsm->retries = EC_FSM_RETRIES;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	773	return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	774	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	775	else if (datagram->working_counter != 1) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	776	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	777	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	778	EC_ERR("Failed to set sync managers of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	779	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	781	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	782	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	783
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	784	ec_fsm_slave_config_enter_boot_preop(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	785	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	786
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	788
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	789	/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	790	*/
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	791	void ec_fsm_slave_config_enter_boot_preop(
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	792	ec_fsm_slave_config_t fsm /< slave state machine /
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	793	)
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	794	{
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	795	fsm->state = ec_fsm_slave_config_state_boot_preop;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	796
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	797	if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	798	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	799	} else { // BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	800	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	801	}
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	802
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	803	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	804	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	805
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	806	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	807
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	808	/** Slave configuration state: BOOT/PREOP.
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	809	*/
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	810	void ec_fsm_slave_config_state_boot_preop(
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	811	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	812	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	813	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	814	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	815	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	816
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	817	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	818
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	819	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	820	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	821	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	822	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	823	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	824	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	825
1404 b7ea043d5081 Minor changes. Florian Pose <fp@igh-essen.com> parents: 1396 diff changeset	826	// slave is now in BOOT or PREOP
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	827	slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	828
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	829	if (master->debug_level) {
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	830	EC_DBG("Slave %u is now in %s.\n", slave->ring_position,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	831	slave->requested_state != EC_SLAVE_STATE_BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	832	? "PREOP" : "BOOT");
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	833	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	834
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	835	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	836	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	837	if (master->debug_level) {
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	838	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	839	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	840	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	841	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	842	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	843
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	844	ec_fsm_slave_config_enter_sdo_conf(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	845	}
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	846
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	847	/*****************************************************************************/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	848
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	849	/** Check for SDO configurations to be applied.
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	850	*/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	851	void ec_fsm_slave_config_enter_sdo_conf(
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	852	ec_fsm_slave_config_t fsm /< slave state machine /
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	853	)
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	854	{
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	855	ec_slave_t *slave = fsm->slave;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	856
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	857	if (!slave->config) {
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	858	ec_fsm_slave_config_enter_pdo_sync(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	859	return;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	860	}
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	861
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	862	// No CoE configuration to be applied?
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	863	if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	864	ec_fsm_slave_config_enter_soe_conf(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	865	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	867
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	868	// start SDO configuration
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	869	fsm->state = ec_fsm_slave_config_state_sdo_conf;
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	870	fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	871	ec_sdo_request_t, list);
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	872	ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	873	ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	874	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	875	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	876	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	877
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	878	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	879
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	880	/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	881	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	882	void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	883	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	884	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	885	{
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	886	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	887
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	888	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	889	EC_ERR("SDO configuration failed for slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	890	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	891	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	892	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	893	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	894	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	895
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	896	if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	897	ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	898	return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	899	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	900
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	901	// Another SDO to configure?
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	902	if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	903	fsm->request = list_entry(fsm->request->list.next,
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	904	ec_sdo_request_t, list);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	905	ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	906	ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	907	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	908	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	909	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	910	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	911
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	912	// All SDOs are now configured.
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	913	ec_fsm_slave_config_enter_soe_conf(fsm);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	914	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	915
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	916	/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	917
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	918	/** Check for SoE configurations to be applied.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	919	*/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	920	void ec_fsm_slave_config_enter_soe_conf(
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	921	ec_fsm_slave_config_t fsm /< slave state machine /
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	922	)
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	923	{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	924	ec_slave_t *slave = fsm->slave;
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	925	ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	926
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	927	if (!slave->config) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	928	ec_fsm_slave_config_enter_pdo_sync(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	929	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	930	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	931
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	932	// No SoE configuration to be applied?
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	933	if (list_empty(&slave->config->soe_configs)) { // skip configuration
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	934	ec_fsm_slave_config_enter_pdo_conf(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	935	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	936	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	937
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	938	// start SoE configuration
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	939	fsm->state = ec_fsm_slave_config_state_soe_conf;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	940	fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	941	ec_soe_request_t, list);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	942	ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	943	ec_soe_request_write(&fsm->soe_request_copy);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	944	ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	945	ec_fsm_soe_exec(fsm_soe); // execute immediately
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	946	ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	947	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	948
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	949	/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	950
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	951	/** Slave configuration state: SOE_CONF.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	952	*/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	953	void ec_fsm_slave_config_state_soe_conf(
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	954	ec_fsm_slave_config_t fsm /< slave state machine /
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	955	)
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	956	{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	957	ec_slave_t *slave = fsm->slave;
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	958	ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	959
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	960	if (ec_fsm_soe_exec(fsm_soe)) {
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	961	ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	962	return;
219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	963	}
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	964
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	965	if (!ec_fsm_soe_success(fsm_soe)) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	966	EC_ERR("SoE configuration failed for slave %u.\n",
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	967	fsm->slave->ring_position);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	968	fsm->slave->error_flag = 1;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	969	fsm->state = ec_fsm_slave_config_state_error;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	970	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	971	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	972
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	973	if (!fsm->slave->config) { // config removed in the meantime
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	974	ec_fsm_slave_config_reconfigure(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	975	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	976	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	977
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	978	// Another IDN to configure?
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	979	if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	980	fsm->soe_request = list_entry(fsm->soe_request->list.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	981	ec_soe_request_t, list);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	982	ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	983	ec_soe_request_write(&fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	984	ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	985	ec_fsm_soe_exec(fsm_soe); // execute immediately
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	986	ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	987	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	988	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	989
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	990	// All SDOs are now configured.
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	991	ec_fsm_slave_config_enter_pdo_conf(fsm);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	992	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	993
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	994	/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	995
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	996	/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	997	*/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	998	void ec_fsm_slave_config_enter_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	999	ec_fsm_slave_config_t fsm /< slave state machine /
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1000	)
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1001	{
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1002	// Start configuring PDOs
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1003	ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1004	fsm->state = ec_fsm_slave_config_state_pdo_conf;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1005	fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1006	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1007
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1008	/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1009
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1010	/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1011	*/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1012	void ec_fsm_slave_config_state_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1013	ec_fsm_slave_config_t fsm /< slave state machine /
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1014	)
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1015	{
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1491 diff changeset	1016	// TODO check for config here
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1017
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1018	if (ec_fsm_pdo_exec(fsm->fsm_pdo))
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1019	return;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1020
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1021	if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1022	ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1023	return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1024	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1025
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1026	if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1027	EC_WARN("PDO configuration failed on slave %u.\n",
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1028	fsm->slave->ring_position);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1029	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1030
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1031	ec_fsm_slave_config_enter_watchdog_divider(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1032	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1033
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1034	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1035
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1036	/** WATCHDOG_DIVIDER entry function.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1037	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1038	void ec_fsm_slave_config_enter_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1039	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1040	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1041	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1042	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1043	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1044	ec_master_t *master = slave->master;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1045	ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1046
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1047	if (config && config->watchdog_divider) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1048	if (master->debug_level)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1049	EC_DBG("Setting watchdog divider to %u.\n",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1050	config->watchdog_divider);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1051
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1052	ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1053	EC_WRITE_U16(datagram->data, config->watchdog_divider);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1054	fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1055	fsm->state = ec_fsm_slave_config_state_watchdog_divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1056	} else {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1057	ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1058	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1059	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1060
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1061	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1062
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1063	/** Slave configuration state: WATCHDOG_DIVIDER.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1064	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1065	void ec_fsm_slave_config_state_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1066	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1067	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1068	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1069	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1070	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1071
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1072	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1073	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1074
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1075	if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1076	fsm->state = ec_fsm_slave_config_state_error;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1077	EC_ERR("Failed to receive watchdog divider configuration datagram for"
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1078	" slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1079	ec_datagram_print_state(datagram);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1080	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1081	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1082
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1083	if (datagram->working_counter != 1) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1084	slave->error_flag = 1;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1085	EC_WARN("Failed to set watchdog divider of slave %u: ",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1086	slave->ring_position);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1087	ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1088	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1089	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1090
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1091	ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1092	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1093
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1094	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1095
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1096	/** WATCHDOG entry function
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1097	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1098	void ec_fsm_slave_config_enter_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1099	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1100	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1101	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1102	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1103	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1104	ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1105
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1106	if (config && config->watchdog_intervals) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1107	if (slave->master->debug_level)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1108	EC_DBG("Setting process data watchdog intervals to %u.\n",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1109	config->watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1110
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1111	ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1112	EC_WRITE_U16(datagram->data, config->watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1113
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1114	fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1115	fsm->state = ec_fsm_slave_config_state_watchdog;
1520 09cf61d61af0 Fixed setting watchdog intervals. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	1116	} else {
09cf61d61af0 Fixed setting watchdog intervals. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	1117	ec_fsm_slave_config_enter_pdo_sync(fsm);
09cf61d61af0 Fixed setting watchdog intervals. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	1118	}
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1119	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1120
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1121	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1122
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1123	/** Slave configuration state: WATCHDOG.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1124	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1125
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1126	void ec_fsm_slave_config_state_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1127	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1128	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1129	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1130	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1131	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1132
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1133	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1134	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1135
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1136	if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1137	fsm->state = ec_fsm_slave_config_state_error;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1138	EC_ERR("Failed to receive sync manager watchdog configuration "
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1139	"datagram for slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1140	ec_datagram_print_state(datagram);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1141	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1142	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1143
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1144	if (datagram->working_counter != 1) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1145	EC_WARN("Failed to set process data watchdog intervals of slave %u: ",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1146	slave->ring_position);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1147	ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1148	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1149
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1150	ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1151	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1152
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1153	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1154
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1155	/** Check for PDO sync managers to be configured.
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1156	*/
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1157	void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1158	ec_fsm_slave_config_t fsm /< slave state machine /
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1159	)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1160	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1161	ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1162	ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1163	unsigned int i, offset, num_pdo_syncs;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1164	uint8_t sync_index;
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1165	const ec_sync_t *sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1166	uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1167
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1168	if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1169	offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1170	} else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1171	offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1172	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1173
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1174	if (slave->sii.sync_count <= offset) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1175	// no PDO sync managers to configure
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1176	ec_fsm_slave_config_enter_fmmu(fsm);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1177	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1178	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1179
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1180	num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1181
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1182	// configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1183	ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1184	0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1185	EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	1186	ec_datagram_zero(datagram);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1187
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1188	for (i = 0; i < num_pdo_syncs; i++) {
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1189	const ec_sync_config_t *sync_config;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1190	sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1191	sync = &slave->sii.syncs[sync_index];
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1192
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1193	if (slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1194	sync_config = &slave->config->sync_configs[sync_index];
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1195	size = ec_pdo_list_total_size(&sync_config->pdos);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1196	} else {
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1197	sync_config = NULL;
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1198	size = sync->default_length;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1199	}
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1200
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1201	ec_sync_page(sync, sync_index, size, sync_config,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1202	datagram->data + EC_SYNC_PAGE_SIZE * i);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1203	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1204
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1205	fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1206	fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1207	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1208
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1209	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1210
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1211	/** Configure PDO sync managers.
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1212	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1213	void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1214	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1215	)
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1216	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1217	ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1218	ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1219
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1220	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1221	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1222
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1223	if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1224	fsm->state = ec_fsm_slave_config_state_error;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1225	EC_ERR("Failed to receive process data sync manager configuration"
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1226	" datagram for slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1227	ec_datagram_print_state(datagram);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1228	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1229	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1230
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1231	if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1232	slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1233	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1234	EC_ERR("Failed to set process data sync managers of slave %u: ",
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1235	slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1236	ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1237	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1238	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1239
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1240	ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1241	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1242
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1243	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1244
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1245	/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1246	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1247	void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1248	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1249	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1250	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1251	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1252	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1253	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1254	const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1255	const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1256
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1257	if (!slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1258	ec_fsm_slave_config_enter_safeop(fsm);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1259	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1260	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1261
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1262	if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1263	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1264	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1265	EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1266	slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1267	slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1268	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1269	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1270
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1271	if (!slave->base_fmmu_count) { // skip FMMU configuration
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1272	ec_fsm_slave_config_enter_dc_cycle(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1273	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1274	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1275
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1276	// configure FMMUs
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1277	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1278	0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	1279	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1280	for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1281	fmmu = &slave->config->fmmu_configs[i];
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1282	if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1283	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1284	fsm->state = ec_fsm_slave_config_state_error;
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1285	EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1286	" %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1287	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1288	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1289	ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1290	datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1291	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1292
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1293	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1294	fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1295	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1296
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1297	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1298
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1299	/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1300	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1301	void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1302	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1303	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1304	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1305	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1306	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1307
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1308	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1309	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1310
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1311	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1312	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1313	EC_ERR("Failed to receive FMMUs datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1314	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1315	ec_datagram_print_state(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1316	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1317	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1318
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1319	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1320	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1321	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1322	EC_ERR("Failed to set FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1323	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1324	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1325	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1326	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1327
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1328	ec_fsm_slave_config_enter_dc_cycle(fsm);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1329	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1330
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1331	/*****************************************************************************/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1332
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1333	/** Check for DC to be configured.
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1334	*/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1335	void ec_fsm_slave_config_enter_dc_cycle(
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1336	ec_fsm_slave_config_t fsm /< slave state machine /
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1337	)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1338	{
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1339	ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1340	ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1341	ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1342
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1343	if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1344	ec_fsm_slave_config_reconfigure(fsm);
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1345	return;
9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1346	}
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1347
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1348	if (config->dc_assign_activate) {
1419 8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph. Florian Pose <fp@igh-essen.com> parents: 1412 diff changeset	1349	if (!slave->base_dc_supported \|\| !slave->has_dc_system_time) {
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1350	EC_WARN("Slave %u seems not to support distributed clocks!\n",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1351	slave->ring_position);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1352	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1353
1458 bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1354	if (slave->master->debug_level)
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1355	EC_DBG("Slave %u: Setting DC cycle times to %u / %u.\n",
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1356	slave->ring_position,
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1357	config->dc_sync[0].cycle_time,
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1358	config->dc_sync[1].cycle_time);
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1359
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1360	// set DC cycle times
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1361	ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1362	EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1363	EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1364	fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1365	fsm->state = ec_fsm_slave_config_state_dc_cycle;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1366	} else {
1404 b7ea043d5081 Minor changes. Florian Pose <fp@igh-essen.com> parents: 1396 diff changeset	1367	// DC are unused
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1368	ec_fsm_slave_config_enter_safeop(fsm);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1369	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1370	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1371
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1372	/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1373
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1374	/** Slave configuration state: DC CYCLE.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1375	*/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1376	void ec_fsm_slave_config_state_dc_cycle(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1377	ec_fsm_slave_config_t fsm /< slave state machine /
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1378	)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1379	{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1380	ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1381	ec_slave_t *slave = fsm->slave;
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1382	ec_master_t *master = slave->master;
1412 8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1383	ec_slave_config_t *config = slave->config;
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1384	ec_sync_signal_t *sync0 = &config->dc_sync[0];
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1385	u64 start_time;
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1386
1412 8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1387	if (!config) { // config removed in the meantime
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1388	ec_fsm_slave_config_reconfigure(fsm);
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1389	return;
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1390	}
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1391
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1392	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1393	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1394
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1395	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1396	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1397	EC_ERR("Failed to receive DC cycle times datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1398	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1399	ec_datagram_print_state(datagram);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1400	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1401	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1402
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1403	if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1404	slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1405	fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1406	EC_ERR("Failed to set DC cycle times of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1407	slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1408	ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1409	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1410	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1411
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1412	// set DC start time
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1413	start_time = master->app_time + 100000000ULL; // now + X ns
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1414	// FIXME use slave's local system time here?
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1415
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1416	if (sync0->cycle_time) {
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1417	// find correct phase
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1418	if (master->has_start_time) {
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1419	u64 diff, start;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1420	u32 remainder;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1421
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1422	diff = start_time - master->app_start_time;
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1423	remainder = do_div(diff, sync0->cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1424
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1425	start = start_time +
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1426	sync0->cycle_time - remainder + sync0->shift_time;
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1427
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1428	if (master->debug_level) {
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1429	EC_DBG("app_start_time=%llu\n", master->app_start_time);
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1430	EC_DBG(" start_time=%llu\n", start_time);
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1431	EC_DBG(" cycle_time=%u\n", sync0->cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1432	EC_DBG(" shift_time=%u\n", sync0->shift_time);
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1433	EC_DBG(" remainder=%u\n", remainder);
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1434	EC_DBG(" start=%llu\n", start);
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1435	}
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1436	start_time = start;
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1437	} else {
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1438	EC_WARN("No application time supplied. Cyclic start time will "
1458 bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1439	"not be in phase for slave %u.\n", slave->ring_position);
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1440	}
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1441	}
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1442
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1443	if (master->debug_level)
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1444	EC_DBG("Slave %u: Setting DC cyclic operation start time to %llu.\n",
9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1445	slave->ring_position, start_time);
9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1446
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1447	ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1448	EC_WRITE_U64(datagram->data, start_time);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1449	fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1450	fsm->state = ec_fsm_slave_config_state_dc_start;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1451	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1452
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1453	/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1454
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1455	/** Slave configuration state: DC START.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1456	*/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1457	void ec_fsm_slave_config_state_dc_start(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1458	ec_fsm_slave_config_t fsm /< slave state machine /
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1459	)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1460	{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1461	ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1462	ec_slave_t *slave = fsm->slave;
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1463	ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1464
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1465	if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1466	ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1467	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1468	}
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1469
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1470	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1471	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1472
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1473	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1474	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1475	EC_ERR("Failed to receive DC start time datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1476	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1477	ec_datagram_print_state(datagram);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1478	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1479	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1480
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1481	if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1482	slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1483	fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1484	EC_ERR("Failed to set DC start time of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1485	slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1486	ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1487	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1488	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1489
1458 bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1490	if (slave->master->debug_level)
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1491	EC_DBG("Slave %u: Setting DC AssignActivate to 0x%04x.\n",
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1492	slave->ring_position, config->dc_assign_activate);
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1493
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1494	// assign sync unit to EtherCAT or PDI
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1495	ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1496	EC_WRITE_U16(datagram->data, config->dc_assign_activate);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1497	fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1498	fsm->state = ec_fsm_slave_config_state_dc_assign;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1499	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1500
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1501	/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1502
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1503	/** Slave configuration state: DC ASSIGN.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1504	*/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1505	void ec_fsm_slave_config_state_dc_assign(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1506	ec_fsm_slave_config_t fsm /< slave state machine /
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1507	)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1508	{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1509	ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1510	ec_slave_t *slave = fsm->slave;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1511
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1512	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1513	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1514
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1515	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1516	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1517	EC_ERR("Failed to receive DC activation datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1518	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1519	ec_datagram_print_state(datagram);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1520	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1521	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1522
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1523	if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1524	slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1525	fsm->state = ec_fsm_slave_config_state_error;
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1526	EC_ERR("Failed to set DC cyclic operation state of slave %u: ",
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1527	slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1528	ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1529	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1530	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1531
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1532	ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1533	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1534
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1535	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1536
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1537	/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1538	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1539	void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1540	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1541	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1542	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1543	fsm->state = ec_fsm_slave_config_state_safeop;
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1544	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1545	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1546	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1547
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1548	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1549
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1550	/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1551	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1552	void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1553	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1554	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1555	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1556	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1557	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1558
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1559	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1560
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1561	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1562	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1563	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1564	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1565	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1566	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1567
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1568	// slave is now in SAFEOP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1569
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1570	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1571	EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1572	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1573
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1574	if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1575	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1576	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1577	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1578	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1579	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1580	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1581	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1582
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1583	// set state to OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1584	fsm->state = ec_fsm_slave_config_state_op;
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1585	ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1586	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1587	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1588
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1589	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1590
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1591	/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1592	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1593	void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1594	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1595	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1596	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1597	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1598	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1599
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1600	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1601
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1602	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1603	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1604	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1605	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1606	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1607	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1608
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1609	// slave is now in OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1610
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1611	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1612	EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1613	EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1614	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1615
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1616	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1617	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1618
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1619	/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1620
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1621	/** Reconfigure the slave starting at INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1622	*/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1623	void ec_fsm_slave_config_reconfigure(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1624	ec_fsm_slave_config_t fsm /< slave state machine /
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1625	)
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1626	{
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1627	if (fsm->slave->master->debug_level) {
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1628	EC_DBG("Slave configuration for slave %u detached during "
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1629	"configuration. Reconfiguring.", fsm->slave->ring_position);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1630	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1631
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1632	ec_fsm_slave_config_enter_init(fsm); // reconfigure
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1633	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1634
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1635	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1636	* Common state functions
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1637	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1638
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1639	/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1640	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1641	void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1642	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1643	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1644	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1645	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1646
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1647	/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1648
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1649	/** State: END.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1650	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1651	void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1652	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1653	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1654	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1655	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1656
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1657	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 15 Apr 2010 20:15:48 +0200
changeset 1896	1d4bca6ba543
parent 1889	131f655c03d3
child 1904	2fadf016d9be
permissions	-rw-r--r--