author | Florian Pose <fp@igh-essen.com> |
Fri, 28 Oct 2011 13:07:54 +0200 | |
branch | redundancy |
changeset 2294 | 234ba1162c1c |
parent 2267 | 2d36f36a433c |
child 2301 | 01e4381ebd09 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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/** \file |
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* EtherCAT master state machine. |
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*/ |
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|
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/*****************************************************************************/ |
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#include "globals.h" |
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#include "master.h" |
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SDO configuration interface, SDO download state machine.
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#include "mailbox.h" |
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Basic reading realtime Sdo access working.
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#include "slave_config.h" |
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#ifdef EC_EOE |
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#include "ethernet.h" |
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#endif |
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Removed slave pointer from ec_sdo_request_t class.
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#include "fsm_master.h" |
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merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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#include "fsm_foe.h" |
528
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/*****************************************************************************/ |
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Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
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/** Time difference [ns] to tolerate without setting a new system time offset. |
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*/ |
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#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000 |
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|
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/*****************************************************************************/ |
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|
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void ec_fsm_master_state_start(ec_fsm_master_t *); |
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *); |
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void ec_fsm_master_state_read_state(ec_fsm_master_t *); |
528
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *); |
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *); |
717
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Clear station addresses with broadcast before setting them.
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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *); |
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Measure port receive times.
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void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *); |
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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *); |
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void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *); |
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void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *); |
872 | 65 |
void ec_fsm_master_state_write_sii(ec_fsm_master_t *); |
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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *); |
528
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *); |
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void ec_fsm_master_state_reg_request(ec_fsm_master_t *); |
251
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EoE in Free-Run mode; Finished slave configuration state machine.
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|
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void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *); |
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Each slave got its own SDO state machine (faster handling of external SDO requests)
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/*****************************************************************************/ |
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|
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/** Constructor. |
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*/ |
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void ec_fsm_master_init( |
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ec_fsm_master_t *fsm, /**< Master state machine. */ |
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ec_master_t *master, /**< EtherCAT master. */ |
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ec_datagram_t *datagram /**< Datagram object to use. */ |
528
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) |
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{ |
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fsm->master = master; |
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fsm->datagram = datagram; |
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fsm->state = ec_fsm_master_state_start; |
650
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Introduced idle flag in master state machine.
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fsm->idle = 0; |
1400
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Clear slave list on link down.
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fsm->link_state = 0; |
528
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fsm->slaves_responding = 0; |
1961 | 88 |
fsm->rescan_required = 0; |
528
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fsm->slave_states = EC_SLAVE_STATE_UNKNOWN; |
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|
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Layed out CoE state machine.
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// init sub-state-machines |
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Major Pdo configuration change: Read mapping of unknown Pdos during
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92 |
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); |
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93 |
ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe); |
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ec_fsm_change_init(&fsm->fsm_change, fsm->datagram); |
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Major Pdo configuration change: Read mapping of unknown Pdos during
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ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram, |
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Major Pdo configuration change: Read mapping of unknown Pdos during
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&fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo); |
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Reading of Pdo mapping via CoE during scan.
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ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram, |
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&fsm->fsm_slave_config, &fsm->fsm_pdo); |
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ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram); |
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} |
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|
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102 |
/*****************************************************************************/ |
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103 |
|
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/** Destructor. |
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105 |
*/ |
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106 |
void ec_fsm_master_clear( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
107 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
108 |
) |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
109 |
{ |
436
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
110 |
// clear sub-state machines |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
111 |
ec_fsm_coe_clear(&fsm->fsm_coe); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
112 |
ec_fsm_pdo_clear(&fsm->fsm_pdo); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
113 |
ec_fsm_change_clear(&fsm->fsm_change); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
114 |
ec_fsm_slave_config_clear(&fsm->fsm_slave_config); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
115 |
ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan); |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
116 |
ec_fsm_sii_clear(&fsm->fsm_sii); |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
117 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
118 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
119 |
/*****************************************************************************/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
120 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
121 |
/** Executes the current state of the state machine. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
122 |
* |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
123 |
* If the state machine's datagram is not sent or received yet, the execution |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
124 |
* of the state machine is delayed to the next cycle. |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1579
diff
changeset
|
125 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1579
diff
changeset
|
126 |
* \return true, if the state machine was executed |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1579
diff
changeset
|
127 |
*/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1579
diff
changeset
|
128 |
int ec_fsm_master_exec( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
129 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
130 |
) |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
131 |
{ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
132 |
if (fsm->datagram->state == EC_DATAGRAM_SENT |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
133 |
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) { |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
134 |
// datagram was not sent or received yet. |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1579
diff
changeset
|
135 |
return 0; |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
136 |
} |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
137 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
138 |
fsm->state(fsm); |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1579
diff
changeset
|
139 |
return 1; |
446 | 140 |
} |
141 |
||
650
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
142 |
/*****************************************************************************/ |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
143 |
|
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
144 |
/** |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
145 |
* \return true, if the state machine is in an idle phase |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
146 |
*/ |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
147 |
int ec_fsm_master_idle( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
148 |
const ec_fsm_master_t *fsm /**< Master state machine. */ |
650
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
149 |
) |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
150 |
{ |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
151 |
return fsm->idle; |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
152 |
} |
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
153 |
|
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
154 |
/*****************************************************************************/ |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
155 |
|
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
156 |
/** Restarts the master state machine. |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
157 |
*/ |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
158 |
void ec_fsm_master_restart( |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
159 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
160 |
) |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
161 |
{ |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
162 |
fsm->state = ec_fsm_master_state_start; |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
163 |
fsm->state(fsm); // execute immediately |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
164 |
} |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
165 |
|
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
/****************************************************************************** |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
167 |
* Master state machine |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
*****************************************************************************/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
170 |
/** Master state: START. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
171 |
* |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
172 |
* Starts with getting slave count and slave states. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
173 |
*/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
174 |
void ec_fsm_master_state_start( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
175 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
176 |
) |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
177 |
{ |
650
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
178 |
fsm->idle = 1; |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
179 |
ec_datagram_brd(fsm->datagram, 0x0130, 2); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1219
diff
changeset
|
180 |
ec_datagram_zero(fsm->datagram); |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
181 |
fsm->state = ec_fsm_master_state_broadcast; |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
182 |
} |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
183 |
|
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
184 |
/*****************************************************************************/ |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
185 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
186 |
/** Master state: BROADCAST. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
187 |
* |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
188 |
* Processes the broadcast read slave count and slaves states. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
189 |
*/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
190 |
void ec_fsm_master_state_broadcast( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
191 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
192 |
) |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
193 |
{ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
194 |
ec_datagram_t *datagram = fsm->datagram; |
1005 | 195 |
unsigned int i, size; |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
ec_slave_t *slave; |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
197 |
ec_master_t *master = fsm->master; |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
612
diff
changeset
|
199 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
612
diff
changeset
|
200 |
return; // always retry |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
201 |
|
553
a4e0267825e3
Introduced topology_change_pending to delay bus scanning until IDLE mode
Florian Pose <fp@igh-essen.com>
parents:
538
diff
changeset
|
202 |
// bus topology change? |
a4e0267825e3
Introduced topology_change_pending to delay bus scanning until IDLE mode
Florian Pose <fp@igh-essen.com>
parents:
538
diff
changeset
|
203 |
if (datagram->working_counter != fsm->slaves_responding) { |
1961 | 204 |
fsm->rescan_required = 1; |
553
a4e0267825e3
Introduced topology_change_pending to delay bus scanning until IDLE mode
Florian Pose <fp@igh-essen.com>
parents:
538
diff
changeset
|
205 |
fsm->slaves_responding = datagram->working_counter; |
1921 | 206 |
EC_MASTER_INFO(master, "%u slave(s) responding.\n", |
207 |
fsm->slaves_responding); |
|
906 | 208 |
} |
209 |
||
2267
2d36f36a433c
Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents:
2120
diff
changeset
|
210 |
if (fsm->link_state && !master->devices[EC_DEVICE_MAIN].link_state) { |
2120
7dd86c484192
Fixed missing return causing slaves not going to OP.
Florian Pose <fp@igh-essen.com>
parents:
2119
diff
changeset
|
211 |
// link went down |
1921 | 212 |
EC_MASTER_DBG(master, 1, "Master state machine detected " |
213 |
"link down. Clearing slave list.\n"); |
|
1402
4c1203ec569d
Tested clearing slave list after link down; minor changes.
Florian Pose <fp@igh-essen.com>
parents:
1400
diff
changeset
|
214 |
|
1400
3c4923051e43
Clear slave list on link down.
Florian Pose <fp@igh-essen.com>
parents:
1388
diff
changeset
|
215 |
#ifdef EC_EOE |
3c4923051e43
Clear slave list on link down.
Florian Pose <fp@igh-essen.com>
parents:
1388
diff
changeset
|
216 |
ec_master_eoe_stop(master); |
3c4923051e43
Clear slave list on link down.
Florian Pose <fp@igh-essen.com>
parents:
1388
diff
changeset
|
217 |
ec_master_clear_eoe_handlers(master); |
3c4923051e43
Clear slave list on link down.
Florian Pose <fp@igh-essen.com>
parents:
1388
diff
changeset
|
218 |
#endif |
3c4923051e43
Clear slave list on link down.
Florian Pose <fp@igh-essen.com>
parents:
1388
diff
changeset
|
219 |
ec_master_clear_slaves(master); |
1830
ef09f0ea0c4c
Reset AL states on link down.
Florian Pose <fp@igh-essen.com>
parents:
1822
diff
changeset
|
220 |
fsm->slave_states = 0x00; |
1400
3c4923051e43
Clear slave list on link down.
Florian Pose <fp@igh-essen.com>
parents:
1388
diff
changeset
|
221 |
} |
2267
2d36f36a433c
Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents:
2120
diff
changeset
|
222 |
fsm->link_state = master->devices[EC_DEVICE_MAIN].link_state; |
1400
3c4923051e43
Clear slave list on link down.
Florian Pose <fp@igh-essen.com>
parents:
1388
diff
changeset
|
223 |
|
1402
4c1203ec569d
Tested clearing slave list after link down; minor changes.
Florian Pose <fp@igh-essen.com>
parents:
1400
diff
changeset
|
224 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
225 |
ec_fsm_master_restart(fsm); |
906 | 226 |
return; |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
227 |
} |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
228 |
|
1021
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
229 |
if (fsm->slaves_responding) { |
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
230 |
uint8_t states = EC_READ_U8(datagram->data); |
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
231 |
if (states != fsm->slave_states) { // slave states changed? |
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
232 |
char state_str[EC_STATE_STRING_SIZE]; |
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
233 |
fsm->slave_states = states; |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
234 |
ec_state_string(fsm->slave_states, state_str, 1); |
1921 | 235 |
EC_MASTER_INFO(master, "Slave states: %s.\n", state_str); |
1021
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
236 |
} |
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
237 |
} else { |
fa5cf205f4f0
Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents:
1005
diff
changeset
|
238 |
fsm->slave_states = 0x00; |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
239 |
} |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
240 |
|
1961 | 241 |
if (fsm->rescan_required) { |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
242 |
down(&master->scan_sem); |
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
243 |
if (!master->allow_scan) { |
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
244 |
up(&master->scan_sem); |
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
245 |
} else { |
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
246 |
master->scan_busy = 1; |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
247 |
up(&master->scan_sem); |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
248 |
|
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
249 |
// clear all slaves and scan the bus |
1961 | 250 |
fsm->rescan_required = 0; |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
251 |
fsm->idle = 0; |
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
252 |
fsm->scan_jiffies = jiffies; |
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
253 |
|
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
254 |
#ifdef EC_EOE |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
255 |
ec_master_eoe_stop(master); |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
256 |
ec_master_clear_eoe_handlers(master); |
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
257 |
#endif |
992
50a44cbd30af
Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
258 |
ec_master_clear_slaves(master); |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
259 |
|
1003 | 260 |
master->slave_count = fsm->slaves_responding; |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
261 |
|
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
262 |
if (!master->slave_count) { |
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
263 |
// no slaves present -> finish state machine. |
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
264 |
master->scan_busy = 0; |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
265 |
wake_up_interruptible(&master->scan_queue); |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
266 |
ec_fsm_master_restart(fsm); |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
267 |
return; |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
268 |
} |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
269 |
|
1005 | 270 |
size = sizeof(ec_slave_t) * master->slave_count; |
2120
7dd86c484192
Fixed missing return causing slaves not going to OP.
Florian Pose <fp@igh-essen.com>
parents:
2119
diff
changeset
|
271 |
if (!(master->slaves = |
7dd86c484192
Fixed missing return causing slaves not going to OP.
Florian Pose <fp@igh-essen.com>
parents:
2119
diff
changeset
|
272 |
(ec_slave_t *) kmalloc(size, GFP_KERNEL))) { |
1921 | 273 |
EC_MASTER_ERR(master, "Failed to allocate %u bytes" |
274 |
" of slave memory!\n", size); |
|
1064
5f27403587a8
Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents:
1031
diff
changeset
|
275 |
master->slave_count = 0; // TODO avoid retrying scan! |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
276 |
master->scan_busy = 0; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
277 |
wake_up_interruptible(&master->scan_queue); |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
278 |
ec_fsm_master_restart(fsm); |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
279 |
return; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
280 |
} |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
281 |
|
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
282 |
// init slaves |
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
283 |
for (i = 0; i < master->slave_count; i++) { |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
284 |
slave = master->slaves + i; |
992
50a44cbd30af
Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
285 |
ec_slave_init(slave, master, i, i + 1); |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
286 |
|
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1028
diff
changeset
|
287 |
// do not force reconfiguration in operation phase to avoid |
908
386b908033be
Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents:
907
diff
changeset
|
288 |
// unnecesssary process data interruptions |
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1028
diff
changeset
|
289 |
if (master->phase != EC_OPERATION) |
908
386b908033be
Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents:
907
diff
changeset
|
290 |
slave->force_config = 1; |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
291 |
} |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
292 |
|
904 | 293 |
// broadcast clear all station addresses |
717
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
294 |
ec_datagram_bwr(datagram, 0x0010, 2); |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
295 |
EC_WRITE_U16(datagram->data, 0x0000); |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
296 |
fsm->retries = EC_FSM_RETRIES; |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
297 |
fsm->state = ec_fsm_master_state_clear_addresses; |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
298 |
return; |
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
299 |
} |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
300 |
} |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
301 |
|
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
302 |
if (master->slave_count) { |
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
303 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
304 |
// application applied configurations |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
305 |
if (master->config_changed) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
306 |
master->config_changed = 0; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
307 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
308 |
EC_MASTER_DBG(master, 1, "Configuration changed.\n"); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
309 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
310 |
fsm->slave = master->slaves; // begin with first slave |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
311 |
ec_fsm_master_enter_write_system_times(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
312 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
313 |
} else { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
314 |
// fetch state from first slave |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
315 |
fsm->slave = master->slaves; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
316 |
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
317 |
0x0130, 2); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
318 |
ec_datagram_zero(datagram); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
319 |
fsm->retries = EC_FSM_RETRIES; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
320 |
fsm->state = ec_fsm_master_state_read_state; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
321 |
} |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
322 |
} else { |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
323 |
ec_fsm_master_restart(fsm); |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
324 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
325 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
326 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
327 |
/*****************************************************************************/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
328 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
329 |
/** Check for pending SII write requests and process one. |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
330 |
* |
872 | 331 |
* \return non-zero, if an SII write request is processed. |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
332 |
*/ |
872 | 333 |
int ec_fsm_master_action_process_sii( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
334 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
335 |
) |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
336 |
{ |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
337 |
ec_master_t *master = fsm->master; |
872 | 338 |
ec_sii_write_request_t *request; |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
339 |
|
604
74ceacf42710
Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents:
603
diff
changeset
|
340 |
// search the first request to be processed |
74ceacf42710
Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents:
603
diff
changeset
|
341 |
while (1) { |
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
342 |
if (list_empty(&master->sii_requests)) |
604
74ceacf42710
Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents:
603
diff
changeset
|
343 |
break; |
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
344 |
|
604
74ceacf42710
Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents:
603
diff
changeset
|
345 |
// get first request |
872 | 346 |
request = list_entry(master->sii_requests.next, |
347 |
ec_sii_write_request_t, list); |
|
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
348 |
list_del_init(&request->list); // dequeue |
1209 | 349 |
request->state = EC_INT_REQUEST_BUSY; |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
350 |
|
872 | 351 |
// found pending SII write operation. execute it! |
1921 | 352 |
EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n"); |
872 | 353 |
fsm->sii_request = request; |
354 |
fsm->sii_index = 0; |
|
979
405cc2d033e0
Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents:
969
diff
changeset
|
355 |
ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset, |
405cc2d033e0
Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents:
969
diff
changeset
|
356 |
request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS); |
872 | 357 |
fsm->state = ec_fsm_master_state_write_sii; |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
358 |
fsm->state(fsm); // execute immediately |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
359 |
return 1; |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
360 |
} |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
361 |
|
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
362 |
return 0; |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
363 |
} |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
364 |
|
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
365 |
/*****************************************************************************/ |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
366 |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
367 |
/** Check for pending register requests and process one. |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1507
diff
changeset
|
368 |
* |
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
369 |
* \return non-zero, if a register request is processed. |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
370 |
*/ |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
371 |
int ec_fsm_master_action_process_register( |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
372 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
373 |
) |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
374 |
{ |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
375 |
ec_master_t *master = fsm->master; |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
376 |
ec_reg_request_t *request; |
1200 | 377 |
|
378 |
// search the first request to be processed |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
379 |
while (!list_empty(&master->reg_requests)) { |
1200 | 380 |
|
381 |
// get first request |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
382 |
request = list_entry(master->reg_requests.next, |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
383 |
ec_reg_request_t, list); |
1200 | 384 |
list_del_init(&request->list); // dequeue |
1209 | 385 |
request->state = EC_INT_REQUEST_BUSY; |
1200 | 386 |
|
387 |
// found pending request; process it! |
|
1921 | 388 |
EC_SLAVE_DBG(request->slave, 1, "Processing register request, " |
389 |
"offset 0x%04x, length %zu...\n", |
|
390 |
request->offset, request->length); |
|
1386
95ec1e9bcb53
Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents:
1385
diff
changeset
|
391 |
|
95ec1e9bcb53
Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents:
1385
diff
changeset
|
392 |
if (request->length > fsm->datagram->mem_size) { |
1921 | 393 |
EC_MASTER_ERR(master, "Request length (%zu) exceeds maximum " |
1543
373cd456dc26
Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
394 |
"datagram size (%zu)!\n", request->length, |
1386
95ec1e9bcb53
Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents:
1385
diff
changeset
|
395 |
fsm->datagram->mem_size); |
95ec1e9bcb53
Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents:
1385
diff
changeset
|
396 |
request->state = EC_INT_REQUEST_FAILURE; |
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
397 |
wake_up(&master->reg_queue); |
1386
95ec1e9bcb53
Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents:
1385
diff
changeset
|
398 |
continue; |
95ec1e9bcb53
Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents:
1385
diff
changeset
|
399 |
} |
95ec1e9bcb53
Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents:
1385
diff
changeset
|
400 |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
401 |
fsm->reg_request = request; |
1200 | 402 |
|
403 |
if (request->dir == EC_DIR_INPUT) { |
|
404 |
ec_datagram_fprd(fsm->datagram, request->slave->station_address, |
|
405 |
request->offset, request->length); |
|
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1219
diff
changeset
|
406 |
ec_datagram_zero(fsm->datagram); |
1200 | 407 |
} else { |
408 |
ec_datagram_fpwr(fsm->datagram, request->slave->station_address, |
|
409 |
request->offset, request->length); |
|
410 |
memcpy(fsm->datagram->data, request->data, request->length); |
|
411 |
} |
|
412 |
fsm->retries = EC_FSM_RETRIES; |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
413 |
fsm->state = ec_fsm_master_state_reg_request; |
1200 | 414 |
return 1; |
415 |
} |
|
416 |
||
417 |
return 0; |
|
418 |
} |
|
419 |
||
420 |
/*****************************************************************************/ |
|
421 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
422 |
/** Check for pending SDO requests and process one. |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
423 |
* |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
424 |
* \return non-zero, if an SDO request is processed. |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
425 |
*/ |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
426 |
int ec_fsm_master_action_process_sdo( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
427 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
428 |
) |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
429 |
{ |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
430 |
ec_master_t *master = fsm->master; |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
431 |
ec_slave_t *slave; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
432 |
ec_sdo_request_t *req; |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
433 |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
434 |
// search for internal requests to be processed |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
435 |
for (slave = master->slaves; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
436 |
slave < master->slaves + master->slave_count; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
437 |
slave++) { |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
438 |
if (!slave->config) |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
439 |
continue; |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
440 |
list_for_each_entry(req, &slave->config->sdo_requests, list) { |
1209 | 441 |
if (req->state == EC_INT_REQUEST_QUEUED) { |
880 | 442 |
|
443 |
if (ec_sdo_request_timed_out(req)) { |
|
1209 | 444 |
req->state = EC_INT_REQUEST_FAILURE; |
1921 | 445 |
EC_SLAVE_DBG(slave, 1, "Internal SDO request" |
446 |
" timed out.\n"); |
|
880 | 447 |
continue; |
448 |
} |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
449 |
|
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
450 |
if (slave->current_state == EC_SLAVE_STATE_INIT) { |
1209 | 451 |
req->state = EC_INT_REQUEST_FAILURE; |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
452 |
continue; |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
453 |
} |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
454 |
|
1209 | 455 |
req->state = EC_INT_REQUEST_BUSY; |
1921 | 456 |
EC_SLAVE_DBG(slave, 1, "Processing internal" |
457 |
" SDO request...\n"); |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
458 |
fsm->idle = 0; |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
459 |
fsm->sdo_request = req; |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
460 |
fsm->slave = slave; |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
461 |
fsm->state = ec_fsm_master_state_sdo_request; |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
462 |
ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
463 |
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
464 |
return 1; |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
465 |
} |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
466 |
} |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
467 |
} |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
468 |
return 0; |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
469 |
} |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
470 |
|
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
471 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
472 |
/*****************************************************************************/ |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
473 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
474 |
/** Master action: IDLE. |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
475 |
* |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
476 |
* Does secondary work. |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
477 |
*/ |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
478 |
void ec_fsm_master_action_idle( |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
479 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
480 |
) |
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
481 |
{ |
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
482 |
ec_master_t *master = fsm->master; |
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
483 |
ec_slave_t *slave; |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
484 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1596
diff
changeset
|
485 |
// Check for pending internal SDO requests |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
486 |
if (ec_fsm_master_action_process_sdo(fsm)) |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
487 |
return; |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
488 |
|
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
1830
diff
changeset
|
489 |
// enable processing of requests |
1804 | 490 |
for (slave = master->slaves; |
491 |
slave < master->slaves + master->slave_count; |
|
492 |
slave++) { |
|
493 |
ec_fsm_slave_ready(&slave->fsm); |
|
494 |
} |
|
495 |
||
496 |
// check, if slaves have an SDO dictionary to read out. |
|
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
497 |
for (slave = master->slaves; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
498 |
slave < master->slaves + master->slave_count; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
499 |
slave++) { |
910
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
500 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE) |
1219
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
501 |
|| (slave->sii.has_general |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
502 |
&& !slave->sii.coe_details.enable_sdo_info) |
442
6607875255d9
SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
503 |
|| slave->sdo_dictionary_fetched |
6607875255d9
SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
504 |
|| slave->current_state == EC_SLAVE_STATE_INIT |
1219
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
505 |
|| slave->current_state == EC_SLAVE_STATE_UNKNOWN |
442
6607875255d9
SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
506 |
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ |
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
507 |
) continue; |
442
6607875255d9
SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
508 |
|
1921 | 509 |
EC_SLAVE_DBG(slave, 1, "Fetching SDO dictionary.\n"); |
442
6607875255d9
SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
510 |
|
910
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
511 |
slave->sdo_dictionary_fetched = 1; |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
512 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
513 |
// start fetching SDO dictionary |
910
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
514 |
fsm->idle = 0; |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
515 |
fsm->slave = slave; |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
516 |
fsm->state = ec_fsm_master_state_sdo_dictionary; |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
517 |
ec_fsm_coe_dictionary(&fsm->fsm_coe, slave); |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
518 |
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
519 |
return; |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
520 |
} |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
521 |
|
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
522 |
// check for pending SII write operations. |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
523 |
if (ec_fsm_master_action_process_sii(fsm)) |
9fd31755f576
Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents:
908
diff
changeset
|
524 |
return; // SII write request found |
304
558a6669da90
Better master state machines.
Florian Pose <fp@igh-essen.com>
parents:
301
diff
changeset
|
525 |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
526 |
// check for pending register requests. |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
527 |
if (ec_fsm_master_action_process_register(fsm)) |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
528 |
return; // register request processing |
1200 | 529 |
|
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
530 |
ec_fsm_master_restart(fsm); |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
531 |
} |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
532 |
|
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
533 |
/*****************************************************************************/ |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
534 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
535 |
/** Master action: Get state of next slave. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
536 |
*/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
537 |
void ec_fsm_master_action_next_slave_state( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
538 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
539 |
) |
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
540 |
{ |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
541 |
ec_master_t *master = fsm->master; |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
542 |
|
304
558a6669da90
Better master state machines.
Florian Pose <fp@igh-essen.com>
parents:
301
diff
changeset
|
543 |
// is there another slave to query? |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
544 |
fsm->slave++; |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
545 |
if (fsm->slave < master->slaves + master->slave_count) { |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
546 |
// fetch state from next slave |
650
c68995623e94
Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
547 |
fsm->idle = 1; |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
548 |
ec_datagram_fprd(fsm->datagram, |
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
549 |
fsm->slave->station_address, 0x0130, 2); |
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1219
diff
changeset
|
550 |
ec_datagram_zero(fsm->datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
551 |
fsm->retries = EC_FSM_RETRIES; |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
552 |
fsm->state = ec_fsm_master_state_read_state; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
553 |
return; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
554 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
555 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
556 |
// all slaves processed |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
557 |
ec_fsm_master_action_idle(fsm); |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
558 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
559 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
560 |
/*****************************************************************************/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
561 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
562 |
/** Master action: Configure. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
563 |
*/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
564 |
void ec_fsm_master_action_configure( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
565 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
566 |
) |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
567 |
{ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
568 |
ec_master_t *master = fsm->master; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
569 |
ec_slave_t *slave = fsm->slave; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
570 |
|
2100
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
571 |
if (master->config_changed) { |
2111
d9d56e56f2a2
Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents:
2108
diff
changeset
|
572 |
master->config_changed = 0; |
d9d56e56f2a2
Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents:
2108
diff
changeset
|
573 |
|
2100
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
574 |
// abort iterating through slaves, |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
575 |
// first compensate DC system time offsets, |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
576 |
// then begin configuring at slave 0 |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
577 |
EC_MASTER_DBG(master, 1, "Configuration changed" |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
578 |
" (aborting state check).\n"); |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
579 |
|
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
580 |
fsm->slave = master->slaves; // begin with first slave |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
581 |
ec_fsm_master_enter_write_system_times(fsm); |
2120
7dd86c484192
Fixed missing return causing slaves not going to OP.
Florian Pose <fp@igh-essen.com>
parents:
2119
diff
changeset
|
582 |
return; |
2100
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
583 |
} |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
584 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
585 |
// Does the slave have to be configured? |
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
586 |
if ((slave->current_state != slave->requested_state |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
587 |
|| slave->force_config) && !slave->error_flag) { |
1177 | 588 |
|
2115
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
589 |
// Start slave configuration |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
590 |
down(&master->config_sem); |
2115
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
591 |
master->config_busy = 1; |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
592 |
up(&master->config_sem); |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
593 |
|
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
594 |
if (master->debug_level) { |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
595 |
char old_state[EC_STATE_STRING_SIZE], |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
596 |
new_state[EC_STATE_STRING_SIZE]; |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
597 |
ec_state_string(slave->current_state, old_state, 0); |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
598 |
ec_state_string(slave->requested_state, new_state, 0); |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
599 |
EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n", |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
600 |
old_state, new_state, |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
601 |
slave->force_config ? " (forced)" : ""); |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
602 |
} |
2115
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
603 |
|
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
604 |
fsm->idle = 0; |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
605 |
fsm->state = ec_fsm_master_state_configure_slave; |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
606 |
ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave); |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
607 |
fsm->state(fsm); // execute immediately |
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
608 |
return; |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
609 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
610 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
611 |
// slave has error flag set; process next one |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
612 |
ec_fsm_master_action_next_slave_state(fsm); |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
613 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
614 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
615 |
/*****************************************************************************/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
616 |
|
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
617 |
/** Master state: READ STATE. |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
618 |
* |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
619 |
* Fetches the AL state of a slave. |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
620 |
*/ |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
621 |
void ec_fsm_master_state_read_state( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
622 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
623 |
) |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
624 |
{ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
625 |
ec_slave_t *slave = fsm->slave; |
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
626 |
ec_datagram_t *datagram = fsm->datagram; |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
627 |
|
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
628 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
629 |
return; |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
630 |
|
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
631 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
1921 | 632 |
EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
633 |
ec_datagram_print_state(datagram); |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
634 |
ec_fsm_master_restart(fsm); |
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
635 |
return; |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
636 |
} |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
637 |
|
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
638 |
// did the slave not respond to its station address? |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
639 |
if (datagram->working_counter != 1) { |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
640 |
if (!slave->error_flag) { |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
641 |
slave->error_flag = 1; |
1921 | 642 |
EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n"); |
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
643 |
} |
1961 | 644 |
fsm->rescan_required = 1; |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
645 |
ec_fsm_master_restart(fsm); |
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
646 |
return; |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
647 |
} |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
648 |
|
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
649 |
// A single slave responded |
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
650 |
ec_slave_set_state(slave, EC_READ_U8(datagram->data)); |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
651 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
652 |
if (!slave->error_flag) { |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
653 |
// Check, if new slave state has to be acknowledged |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
654 |
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) { |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
655 |
fsm->idle = 0; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
656 |
fsm->state = ec_fsm_master_state_acknowledge; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
657 |
ec_fsm_change_ack(&fsm->fsm_change, slave); |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
658 |
fsm->state(fsm); // execute immediately |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
659 |
return; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
660 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
661 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
662 |
// No acknowlegde necessary; check for configuration |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
663 |
ec_fsm_master_action_configure(fsm); |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
664 |
return; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
665 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
666 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
667 |
// slave has error flag set; process next one |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
668 |
ec_fsm_master_action_next_slave_state(fsm); |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
669 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
670 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
671 |
/*****************************************************************************/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
672 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
673 |
/** Master state: ACKNOWLEDGE. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
674 |
*/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
675 |
void ec_fsm_master_state_acknowledge( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
676 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
677 |
) |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
678 |
{ |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
679 |
ec_slave_t *slave = fsm->slave; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
680 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
681 |
if (ec_fsm_change_exec(&fsm->fsm_change)) |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
682 |
return; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
683 |
|
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
684 |
if (!ec_fsm_change_success(&fsm->fsm_change)) { |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
685 |
fsm->slave->error_flag = 1; |
1921 | 686 |
EC_SLAVE_ERR(slave, "Failed to acknowledge state change.\n"); |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
687 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
688 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
689 |
ec_fsm_master_action_configure(fsm); |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
690 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
691 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
692 |
/*****************************************************************************/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
693 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
694 |
/** Master state: CLEAR ADDRESSES. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
695 |
*/ |
717
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
696 |
void ec_fsm_master_state_clear_addresses( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
697 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
717
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
698 |
) |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
699 |
{ |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
700 |
ec_master_t *master = fsm->master; |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
701 |
ec_datagram_t *datagram = fsm->datagram; |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
702 |
|
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
703 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
704 |
return; |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
705 |
|
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
706 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
1921 | 707 |
EC_MASTER_ERR(master, "Failed to receive address" |
708 |
" clearing datagram: "); |
|
709 |
ec_datagram_print_state(datagram); |
|
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
710 |
master->scan_busy = 0; |
794
684dea874956
Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
711 |
wake_up_interruptible(&master->scan_queue); |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
712 |
ec_fsm_master_restart(fsm); |
717
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
713 |
return; |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
714 |
} |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
715 |
|
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
716 |
if (datagram->working_counter != master->slave_count) { |
1921 | 717 |
EC_MASTER_WARN(master, "Failed to clear all station addresses:" |
718 |
" Cleared %u of %u", |
|
717
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
719 |
datagram->working_counter, master->slave_count); |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
720 |
} |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
721 |
|
1921 | 722 |
EC_MASTER_DBG(master, 1, "Sending broadcast-write" |
723 |
" to measure transmission delays.\n"); |
|
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
724 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
725 |
ec_datagram_bwr(datagram, 0x0900, 1); |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
726 |
ec_datagram_zero(datagram); |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
727 |
fsm->retries = EC_FSM_RETRIES; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
728 |
fsm->state = ec_fsm_master_state_dc_measure_delays; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
729 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
730 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
731 |
/*****************************************************************************/ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
732 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
733 |
/** Master state: DC MEASURE DELAYS. |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
734 |
*/ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
735 |
void ec_fsm_master_state_dc_measure_delays( |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
736 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
737 |
) |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
738 |
{ |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
739 |
ec_master_t *master = fsm->master; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
740 |
ec_datagram_t *datagram = fsm->datagram; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
741 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
742 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
743 |
return; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
744 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
745 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
1921 | 746 |
EC_MASTER_ERR(master, "Failed to receive delay measuring datagram: "); |
747 |
ec_datagram_print_state(datagram); |
|
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
748 |
master->scan_busy = 0; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
749 |
wake_up_interruptible(&master->scan_queue); |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
750 |
ec_fsm_master_restart(fsm); |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
751 |
return; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
752 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1408
diff
changeset
|
753 |
|
1921 | 754 |
EC_MASTER_DBG(master, 1, "%u slaves responded to delay measuring.\n", |
755 |
datagram->working_counter); |
|
756 |
||
757 |
EC_MASTER_INFO(master, "Scanning bus.\n"); |
|
717
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
758 |
|
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
759 |
// begin scanning of slaves |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
760 |
fsm->slave = master->slaves; |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
761 |
fsm->state = ec_fsm_master_state_scan_slave; |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
762 |
ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
763 |
ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately |
717
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
764 |
} |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
765 |
|
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
766 |
/*****************************************************************************/ |
87abf1166e88
Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents:
716
diff
changeset
|
767 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
768 |
/** Master state: SCAN SLAVE. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
769 |
* |
652 | 770 |
* Executes the sub-statemachine for the scanning of a slave. |
771 |
*/ |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
772 |
void ec_fsm_master_state_scan_slave( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
773 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
652 | 774 |
) |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
775 |
{ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
776 |
ec_master_t *master = fsm->master; |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
777 |
#ifdef EC_EOE |
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
612
diff
changeset
|
778 |
ec_slave_t *slave = fsm->slave; |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
779 |
#endif |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
780 |
if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents:
523
diff
changeset
|
781 |
return; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
782 |
|
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
783 |
#ifdef EC_EOE |
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
784 |
if (slave->sii.mailbox_protocols & EC_MBOX_EOE) { |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
785 |
// create EoE handler for this slave |
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
786 |
ec_eoe_t *eoe; |
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
787 |
if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) { |
1921 | 788 |
EC_SLAVE_ERR(slave, "Failed to allocate EoE handler memory!\n"); |
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
789 |
} else if (ec_eoe_init(eoe, slave)) { |
1921 | 790 |
EC_SLAVE_ERR(slave, "Failed to init EoE handler!\n"); |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
791 |
kfree(eoe); |
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
792 |
} else { |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
793 |
list_add_tail(&eoe->list, &master->eoe_handlers); |
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
794 |
} |
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
795 |
} |
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
796 |
#endif |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
797 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
798 |
// another slave to fetch? |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
799 |
fsm->slave++; |
1002
0e1aaeb3540d
Fixed bug in slave scanning, causing a segmentation fault.
Florian Pose <fp@igh-essen.com>
parents:
1000
diff
changeset
|
800 |
if (fsm->slave < master->slaves + master->slave_count) { |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
801 |
ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave); |
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
802 |
ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
803 |
return; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
804 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
805 |
|
1931 | 806 |
EC_MASTER_INFO(master, "Bus scanning completed in %lu ms.\n", |
807 |
(jiffies - fsm->scan_jiffies) * 1000 / HZ); |
|
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
808 |
|
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
809 |
master->scan_busy = 0; |
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
810 |
wake_up_interruptible(&master->scan_queue); |
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
811 |
|
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
812 |
ec_master_calc_dc(master); |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1444
diff
changeset
|
813 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
814 |
// Attach slave configurations |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
815 |
ec_master_attach_slave_configs(master); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
816 |
|
716 | 817 |
#ifdef EC_EOE |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
818 |
// check if EoE processing has to be started |
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
819 |
ec_master_eoe_start(master); |
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
820 |
#endif |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
821 |
|
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
822 |
if (master->slave_count) { |
2111
d9d56e56f2a2
Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents:
2108
diff
changeset
|
823 |
master->config_changed = 0; |
d9d56e56f2a2
Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents:
2108
diff
changeset
|
824 |
|
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
825 |
fsm->slave = master->slaves; // begin with first slave |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
826 |
ec_fsm_master_enter_write_system_times(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
827 |
} else { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
828 |
ec_fsm_master_restart(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
829 |
} |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
830 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
831 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
832 |
/*****************************************************************************/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
833 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
834 |
/** Master state: CONFIGURE SLAVE. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
835 |
* |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
836 |
* Starts configuring a slave. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
837 |
*/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
838 |
void ec_fsm_master_state_configure_slave( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
839 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
840 |
) |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
841 |
{ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
842 |
ec_master_t *master = fsm->master; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
843 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
844 |
if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
845 |
return; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
846 |
|
1277
1189e040fe12
merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents:
1225
diff
changeset
|
847 |
fsm->slave->force_config = 0; |
1189e040fe12
merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents:
1225
diff
changeset
|
848 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
849 |
// configuration finished |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
850 |
master->config_busy = 0; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
851 |
wake_up_interruptible(&master->config_queue); |
830
d83d92e1a919
Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
852 |
|
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
853 |
if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) { |
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
854 |
// TODO: mark slave_config as failed. |
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents:
880
diff
changeset
|
855 |
} |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents:
652
diff
changeset
|
856 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
857 |
fsm->idle = 1; |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
858 |
ec_fsm_master_action_next_slave_state(fsm); |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
859 |
} |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
860 |
|
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
861 |
/*****************************************************************************/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
862 |
|
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
863 |
/** Start writing DC system times. |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
864 |
*/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
865 |
void ec_fsm_master_enter_write_system_times( |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
866 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
867 |
) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
868 |
{ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
869 |
ec_master_t *master = fsm->master; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
870 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
871 |
EC_MASTER_DBG(master, 1, "Writing system time offsets...\n"); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
872 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
873 |
if (master->has_app_time) { |
2100
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
874 |
|
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
875 |
while (fsm->slave < master->slaves + master->slave_count) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
876 |
if (!fsm->slave->base_dc_supported |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
877 |
|| !fsm->slave->has_dc_system_time) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
878 |
fsm->slave++; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
879 |
continue; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
880 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
881 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
882 |
// read DC system time (0x0910, 64 bit) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
883 |
// gap (64 bit) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
884 |
// and time offset (0x0920, 64 bit) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
885 |
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
886 |
0x0910, 24); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
887 |
fsm->retries = EC_FSM_RETRIES; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
888 |
fsm->state = ec_fsm_master_state_dc_read_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
889 |
return; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
890 |
} |
2100
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
891 |
|
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
892 |
} else { |
2100
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
893 |
if (master->active) { |
2108
6d3620f2328f
No app_time is only warning.
Florian Pose <fp@igh-essen.com>
parents:
2100
diff
changeset
|
894 |
EC_MASTER_WARN(master, "No app_time received up to now," |
2119 | 895 |
" but master already active.\n"); |
2100
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
896 |
} else { |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
897 |
EC_MASTER_DBG(master, 1, "No app_time received up to now.\n"); |
da4640f9776d
Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents:
1961
diff
changeset
|
898 |
} |
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
899 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
900 |
|
2115
2ec1239216e5
Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents:
2111
diff
changeset
|
901 |
// scanning and setting system times complete |
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
902 |
ec_master_request_op(master); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
903 |
ec_fsm_master_restart(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
904 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
905 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
906 |
/*****************************************************************************/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
907 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
908 |
/** Configure 32 bit time offset. |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
909 |
*/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
910 |
u64 ec_fsm_master_dc_offset32( |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
911 |
ec_fsm_master_t *fsm, /**< Master state machine. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
912 |
u64 system_time, /**< System time register. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
913 |
u64 old_offset, /**< Time offset register. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
914 |
unsigned long jiffies_since_read /**< Jiffies for correction. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
915 |
) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
916 |
{ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
917 |
ec_slave_t *slave = fsm->slave; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
918 |
u32 correction, system_time32, old_offset32, new_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
919 |
s32 time_diff; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
920 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
921 |
system_time32 = (u32) system_time; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
922 |
old_offset32 = (u32) old_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
923 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
924 |
// correct read system time by elapsed time since read operation |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
925 |
correction = jiffies_since_read * 1000 / HZ * 1000000; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
926 |
system_time32 += correction; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
927 |
time_diff = (u32) slave->master->app_time - system_time32; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
928 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
929 |
EC_SLAVE_DBG(slave, 1, "DC system time offset calculation:" |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
930 |
" system_time=%u (corrected with %u)," |
1931 | 931 |
" app_time=%llu, diff=%i\n", |
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
932 |
system_time32, correction, |
1931 | 933 |
slave->master->app_time, time_diff); |
1925
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
934 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
935 |
if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
936 |
new_offset = time_diff + old_offset32; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
937 |
EC_SLAVE_DBG(slave, 1, "Setting time offset to %u (was %u)\n", |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
938 |
new_offset, old_offset32); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
939 |
return (u64) new_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
940 |
} else { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
941 |
EC_SLAVE_DBG(slave, 1, "Not touching time offset.\n"); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
942 |
return old_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
943 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
944 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
945 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
946 |
/*****************************************************************************/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
947 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
948 |
/** Configure 64 bit time offset. |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
949 |
*/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
950 |
u64 ec_fsm_master_dc_offset64( |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
951 |
ec_fsm_master_t *fsm, /**< Master state machine. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
952 |
u64 system_time, /**< System time register. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
953 |
u64 old_offset, /**< Time offset register. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
954 |
unsigned long jiffies_since_read /**< Jiffies for correction. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
955 |
) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
956 |
{ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
957 |
ec_slave_t *slave = fsm->slave; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
958 |
u64 new_offset, correction; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
959 |
s64 time_diff; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
960 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
961 |
// correct read system time by elapsed time since read operation |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
962 |
correction = (u64) (jiffies_since_read * 1000 / HZ) * 1000000; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
963 |
system_time += correction; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
964 |
time_diff = fsm->slave->master->app_time - system_time; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
965 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
966 |
EC_SLAVE_DBG(slave, 1, "DC system time offset calculation:" |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
967 |
" system_time=%llu (corrected with %llu)," |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
968 |
" app_time=%llu, diff=%lli\n", |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
969 |
system_time, correction, |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
970 |
slave->master->app_time, time_diff); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
971 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
972 |
if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
973 |
new_offset = time_diff + old_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
974 |
EC_SLAVE_DBG(slave, 1, "Setting time offset to %llu (was %llu)\n", |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
975 |
new_offset, old_offset); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
976 |
} else { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
977 |
new_offset = old_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
978 |
EC_SLAVE_DBG(slave, 1, "Not touching time offset.\n"); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
979 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
980 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
981 |
return new_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
982 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
983 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
984 |
/*****************************************************************************/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
985 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
986 |
/** Master state: DC READ OFFSET. |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
987 |
*/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
988 |
void ec_fsm_master_state_dc_read_offset( |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
989 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
990 |
) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
991 |
{ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
992 |
ec_datagram_t *datagram = fsm->datagram; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
993 |
ec_slave_t *slave = fsm->slave; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
994 |
u64 system_time, old_offset, new_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
995 |
unsigned long jiffies_since_read; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
996 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
997 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
998 |
return; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
999 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1000 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1001 |
EC_SLAVE_ERR(slave, "Failed to receive DC times datagram: "); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1002 |
ec_datagram_print_state(datagram); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1003 |
fsm->slave++; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1004 |
ec_fsm_master_enter_write_system_times(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1005 |
return; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1006 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1007 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1008 |
if (datagram->working_counter != 1) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1009 |
EC_SLAVE_WARN(slave, "Failed to get DC times: "); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1010 |
ec_datagram_print_wc_error(datagram); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1011 |
fsm->slave++; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1012 |
ec_fsm_master_enter_write_system_times(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1013 |
return; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1014 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1015 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1016 |
system_time = EC_READ_U64(datagram->data); // 0x0910 |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1017 |
old_offset = EC_READ_U64(datagram->data + 16); // 0x0920 |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1018 |
jiffies_since_read = jiffies - datagram->jiffies_sent; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1019 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1020 |
if (slave->base_dc_range == EC_DC_32) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1021 |
new_offset = ec_fsm_master_dc_offset32(fsm, |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1022 |
system_time, old_offset, jiffies_since_read); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1023 |
} else { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1024 |
new_offset = ec_fsm_master_dc_offset64(fsm, |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1025 |
system_time, old_offset, jiffies_since_read); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1026 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1027 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1028 |
// set DC system time offset and transmission delay |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1029 |
ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1030 |
EC_WRITE_U64(datagram->data, new_offset); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1031 |
EC_WRITE_U32(datagram->data + 8, slave->transmission_delay); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1032 |
fsm->retries = EC_FSM_RETRIES; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1033 |
fsm->state = ec_fsm_master_state_dc_write_offset; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1034 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1035 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1036 |
/*****************************************************************************/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1037 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1038 |
/** Master state: DC WRITE OFFSET. |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1039 |
*/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1040 |
void ec_fsm_master_state_dc_write_offset( |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1041 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1042 |
) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1043 |
{ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1044 |
ec_datagram_t *datagram = fsm->datagram; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1045 |
ec_slave_t *slave = fsm->slave; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1046 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1047 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1048 |
return; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1049 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1050 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1051 |
EC_SLAVE_ERR(slave, |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1052 |
"Failed to receive DC system time offset datagram: "); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1053 |
ec_datagram_print_state(datagram); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1054 |
fsm->slave++; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1055 |
ec_fsm_master_enter_write_system_times(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1056 |
return; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1057 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1058 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1059 |
if (datagram->working_counter != 1) { |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1060 |
EC_SLAVE_ERR(slave, "Failed to set DC system time offset: "); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1061 |
ec_datagram_print_wc_error(datagram); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1062 |
fsm->slave++; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1063 |
ec_fsm_master_enter_write_system_times(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1064 |
return; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1065 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1066 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1067 |
fsm->slave++; |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1068 |
ec_fsm_master_enter_write_system_times(fsm); |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1069 |
} |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1070 |
|
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1071 |
/*****************************************************************************/ |
29161abef052
Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents:
1921
diff
changeset
|
1072 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1073 |
/** Master state: WRITE SII. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1074 |
*/ |
872 | 1075 |
void ec_fsm_master_state_write_sii( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1076 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1077 |
) |
269 | 1078 |
{ |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1079 |
ec_master_t *master = fsm->master; |
872 | 1080 |
ec_sii_write_request_t *request = fsm->sii_request; |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1081 |
ec_slave_t *slave = request->slave; |
269 | 1082 |
|
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
1083 |
if (ec_fsm_sii_exec(&fsm->fsm_sii)) return; |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
1084 |
|
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
1085 |
if (!ec_fsm_sii_success(&fsm->fsm_sii)) { |
1921 | 1086 |
EC_SLAVE_ERR(slave, "Failed to write SII data.\n"); |
1209 | 1087 |
request->state = EC_INT_REQUEST_FAILURE; |
872 | 1088 |
wake_up(&master->sii_queue); |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1089 |
ec_fsm_master_restart(fsm); |
872 | 1090 |
return; |
1091 |
} |
|
1092 |
||
1093 |
fsm->sii_index++; |
|
979
405cc2d033e0
Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents:
969
diff
changeset
|
1094 |
if (fsm->sii_index < request->nwords) { |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1095 |
ec_fsm_sii_write(&fsm->fsm_sii, slave, |
979
405cc2d033e0
Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents:
969
diff
changeset
|
1096 |
request->offset + fsm->sii_index, |
405cc2d033e0
Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents:
969
diff
changeset
|
1097 |
request->words + fsm->sii_index, |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
1098 |
EC_FSM_SII_USE_CONFIGURED_ADDRESS); |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
1099 |
ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately |
269 | 1100 |
return; |
1101 |
} |
|
1102 |
||
872 | 1103 |
// finished writing SII |
1921 | 1104 |
EC_SLAVE_DBG(slave, 1, "Finished writing %zu words of SII data.\n", |
1105 |
request->nwords); |
|
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
1106 |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
1107 |
if (request->offset <= 4 && request->offset + request->nwords > 4) { |
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
1108 |
// alias was written |
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
1109 |
slave->sii.alias = EC_READ_U16(request->words + 4); |
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1507
diff
changeset
|
1110 |
// TODO: read alias from register 0x0012 |
1909
ea3eb4c74c1b
Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents:
1892
diff
changeset
|
1111 |
slave->effective_alias = slave->sii.alias; |
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
1112 |
} |
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1064
diff
changeset
|
1113 |
// TODO: Evaluate other SII contents! |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
1114 |
|
1209 | 1115 |
request->state = EC_INT_REQUEST_SUCCESS; |
872 | 1116 |
wake_up(&master->sii_queue); |
1117 |
||
1118 |
// check for another SII write request |
|
1119 |
if (ec_fsm_master_action_process_sii(fsm)) |
|
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1120 |
return; // processing another request |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1121 |
|
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1122 |
ec_fsm_master_restart(fsm); |
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1123 |
} |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1124 |
|
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1125 |
/*****************************************************************************/ |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1126 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1127 |
/** Master state: SDO DICTIONARY. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1128 |
*/ |
905
6d74ebc603ee
Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents:
904
diff
changeset
|
1129 |
void ec_fsm_master_state_sdo_dictionary( |
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1130 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
905
6d74ebc603ee
Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents:
904
diff
changeset
|
1131 |
) |
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1132 |
{ |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1133 |
ec_slave_t *slave = fsm->slave; |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1134 |
ec_master_t *master = fsm->master; |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1135 |
|
436
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
1136 |
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; |
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
1137 |
|
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
1138 |
if (!ec_fsm_coe_success(&fsm->fsm_coe)) { |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1139 |
ec_fsm_master_restart(fsm); |
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1140 |
return; |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1141 |
} |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1142 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1143 |
// SDO dictionary fetching finished |
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1144 |
|
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1145 |
if (master->debug_level) { |
423
862ff892cf18
Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents:
422
diff
changeset
|
1146 |
unsigned int sdo_count, entry_count; |
862ff892cf18
Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents:
422
diff
changeset
|
1147 |
ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count); |
1921 | 1148 |
EC_SLAVE_DBG(slave, 1, "Fetched %u SDOs and %u entries.\n", |
1149 |
sdo_count, entry_count); |
|
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1150 |
} |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
1151 |
|
1186
ff481f097c97
Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents:
1177
diff
changeset
|
1152 |
// attach pdo names from dictionary |
ff481f097c97
Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents:
1177
diff
changeset
|
1153 |
ec_slave_attach_pdo_names(slave); |
ff481f097c97
Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents:
1177
diff
changeset
|
1154 |
|
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1155 |
ec_fsm_master_restart(fsm); |
269 | 1156 |
} |
1157 |
||
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
429
diff
changeset
|
1158 |
/*****************************************************************************/ |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
429
diff
changeset
|
1159 |
|
907
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1160 |
/** Master state: SDO REQUEST. |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1161 |
*/ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1162 |
void ec_fsm_master_state_sdo_request( |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1163 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
570ae1c64465
Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents:
906
diff
changeset
|
1164 |
) |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
429
diff
changeset
|
1165 |
{ |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
853
diff
changeset
|
1166 |
ec_sdo_request_t *request = fsm->sdo_request; |
436
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
1167 |
|
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
1168 |
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; |
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
1169 |
|
63214beb641d
Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
1170 |
if (!ec_fsm_coe_success(&fsm->fsm_coe)) { |
1921 | 1171 |
EC_SLAVE_DBG(fsm->slave, 1, |
1172 |
"Failed to process internal SDO request.\n"); |
|
1209 | 1173 |
request->state = EC_INT_REQUEST_FAILURE; |
1596
ea8d2b4ee742
Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1583
diff
changeset
|
1174 |
wake_up(&fsm->slave->sdo_queue); |
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1175 |
ec_fsm_master_restart(fsm); |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
1176 |
return; |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
1177 |
} |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
1178 |
|
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
1179 |
// SDO request finished |
1209 | 1180 |
request->state = EC_INT_REQUEST_SUCCESS; |
1596
ea8d2b4ee742
Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1583
diff
changeset
|
1181 |
wake_up(&fsm->slave->sdo_queue); |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
1182 |
|
1921 | 1183 |
EC_SLAVE_DBG(fsm->slave, 1, "Finished internal SDO request.\n"); |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
1184 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1185 |
// check for another SDO request |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
1186 |
if (ec_fsm_master_action_process_sdo(fsm)) |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
645
diff
changeset
|
1187 |
return; // processing another request |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
429
diff
changeset
|
1188 |
|
1031
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1189 |
ec_fsm_master_restart(fsm); |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1190 |
} |
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1191 |
|
000593b576dd
Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
1192 |
/*****************************************************************************/ |
1200 | 1193 |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1194 |
/** Master state: REG REQUEST. |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1195 |
*/ |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1196 |
void ec_fsm_master_state_reg_request( |
1200 | 1197 |
ec_fsm_master_t *fsm /**< Master state machine. */ |
1198 |
) |
|
1199 |
{ |
|
1200 |
ec_master_t *master = fsm->master; |
|
1201 |
ec_datagram_t *datagram = fsm->datagram; |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1202 |
ec_reg_request_t *request = fsm->reg_request; |
1200 | 1203 |
|
1204 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
|
1921 | 1205 |
EC_MASTER_ERR(master, "Failed to receive register" |
1206 |
" request datagram: "); |
|
1207 |
ec_datagram_print_state(datagram); |
|
1209 | 1208 |
request->state = EC_INT_REQUEST_FAILURE; |
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1209 |
wake_up(&master->reg_queue); |
1200 | 1210 |
ec_fsm_master_restart(fsm); |
1211 |
return; |
|
1212 |
} |
|
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1507
diff
changeset
|
1213 |
|
1385
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1214 |
if (datagram->working_counter == 1) { |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1215 |
if (request->dir == EC_DIR_INPUT) { // read request |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1216 |
if (request->data) |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1217 |
kfree(request->data); |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1218 |
request->data = kmalloc(request->length, GFP_KERNEL); |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1219 |
if (!request->data) { |
1921 | 1220 |
EC_MASTER_ERR(master, "Failed to allocate %zu bytes" |
1221 |
" of memory for register data.\n", request->length); |
|
1385
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1222 |
request->state = EC_INT_REQUEST_FAILURE; |
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1223 |
wake_up(&master->reg_queue); |
1385
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1224 |
ec_fsm_master_restart(fsm); |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1225 |
return; |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1226 |
} |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1227 |
memcpy(request->data, datagram->data, request->length); |
1200 | 1228 |
} |
1385
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1229 |
|
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1230 |
request->state = EC_INT_REQUEST_SUCCESS; |
1927
365a90e93161
Fixed NULL pointer dereference caused by wrong usage of DBG macro.
Florian Pose <fp@igh-essen.com>
parents:
1925
diff
changeset
|
1231 |
EC_SLAVE_DBG(request->slave, 1, "Register request successful.\n"); |
1385
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1232 |
} else { |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1233 |
request->state = EC_INT_REQUEST_FAILURE; |
1921 | 1234 |
EC_MASTER_ERR(master, "Register request failed.\n"); |
1385
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1235 |
} |
241a7511eee9
Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents:
1380
diff
changeset
|
1236 |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1237 |
wake_up(&master->reg_queue); |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1238 |
|
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1239 |
// check for another register request |
3c886ec376f5
Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
1386
diff
changeset
|
1240 |
if (ec_fsm_master_action_process_register(fsm)) |
1200 | 1241 |
return; // processing another request |
1242 |
||
1243 |
ec_fsm_master_restart(fsm); |
|
1244 |
} |
|
1245 |
||
1246 |
/*****************************************************************************/ |