master/fsm.c
author Florian Pose <fp@igh-essen.com>
Wed, 25 Oct 2006 16:49:53 +0000
changeset 444 31223539fc00
parent 442 6607875255d9
child 446 8fede404c01f
permissions -rw-r--r--
Compiler flag -DSVNREV only for module.c to avoid unnecessary recompiling.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT finite state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "fsm.h"
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#include "master.h"
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#include "mailbox.h"
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/*****************************************************************************/
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void ec_fsm_master_start(ec_fsm_t *);
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void ec_fsm_master_broadcast(ec_fsm_t *);
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void ec_fsm_master_read_states(ec_fsm_t *);
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void ec_fsm_master_validate_vendor(ec_fsm_t *);
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void ec_fsm_master_validate_product(ec_fsm_t *);
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void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
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void ec_fsm_master_configure_slave(ec_fsm_t *);
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void ec_fsm_master_scan_slaves(ec_fsm_t *);
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void ec_fsm_master_write_eeprom(ec_fsm_t *);
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void ec_fsm_master_sdodict(ec_fsm_t *);
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void ec_fsm_master_sdo_request(ec_fsm_t *);
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void ec_fsm_startup_start(ec_fsm_t *);
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void ec_fsm_startup_broadcast(ec_fsm_t *);
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void ec_fsm_startup_scan(ec_fsm_t *);
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void ec_fsm_configuration_start(ec_fsm_t *);
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void ec_fsm_configuration_conf(ec_fsm_t *);
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void ec_fsm_slavescan_start(ec_fsm_t *);
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void ec_fsm_slavescan_address(ec_fsm_t *);
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void ec_fsm_slavescan_state(ec_fsm_t *);
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void ec_fsm_slavescan_base(ec_fsm_t *);
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void ec_fsm_slavescan_datalink(ec_fsm_t *);
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void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
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void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
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void ec_fsm_slaveconf_init(ec_fsm_t *);
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void ec_fsm_slaveconf_sync(ec_fsm_t *);
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void ec_fsm_slaveconf_preop(ec_fsm_t *);
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void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
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void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
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void ec_fsm_slaveconf_saveop(ec_fsm_t *);
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void ec_fsm_slaveconf_op(ec_fsm_t *);
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void ec_fsm_end(ec_fsm_t *);
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void ec_fsm_error(ec_fsm_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
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                ec_master_t *master /**< EtherCAT master */
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                )
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{
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    fsm->master = master;
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    fsm->master_state = ec_fsm_master_start;
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    fsm->master_slaves_responding = 0;
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    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
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    fsm->master_validation = 0;
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    ec_datagram_init(&fsm->datagram);
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    if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
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        EC_ERR("Failed to allocate FSM datagram.\n");
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        return -1;
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    }
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    // init sub-state-machines
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    ec_fsm_sii_init(&fsm->fsm_sii, &fsm->datagram);
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    ec_fsm_change_init(&fsm->fsm_change, &fsm->datagram);
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    ec_fsm_coe_init(&fsm->fsm_coe, &fsm->datagram);
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
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{
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    // clear sub-state machines
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_datagram_clear(&fsm->datagram);
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}
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/*****************************************************************************/
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/**
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   Resets the state machine.
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*/
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void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
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{
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    fsm->master_state = ec_fsm_master_start;
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    fsm->master_slaves_responding = 0;
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    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
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{
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    fsm->master_state(fsm);
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    return fsm->master_state != ec_fsm_end &&
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        fsm->master_state != ec_fsm_error;
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}
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/*****************************************************************************/
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/**
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   Initializes the master startup state machine.
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*/
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void ec_fsm_startup(ec_fsm_t *fsm)
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{
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    fsm->master_state = ec_fsm_startup_start;
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}
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/*****************************************************************************/
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/**
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   Returns, if the master startup state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_startup_success(ec_fsm_t *fsm /**< Finite state machine */)
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{
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    return fsm->master_state == ec_fsm_end;
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}
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/*****************************************************************************/
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/**
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   Initializes the master configuration state machine.
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*/
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325
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void ec_fsm_configuration(ec_fsm_t *fsm)
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{
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    fsm->master_state = ec_fsm_configuration_start;
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}
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/*****************************************************************************/
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/**
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   Returns, if the master confuguration state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_configuration_success(ec_fsm_t *fsm /**< Finite state machine */)
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{
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    return fsm->master_state == ec_fsm_end;
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}
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238
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/******************************************************************************
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 *  master startup state machine
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 *****************************************************************************/
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/**
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   Master state: START.
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   Starts with getting slave count and slave states.
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*/
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void ec_fsm_startup_start(ec_fsm_t *fsm)
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{
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    ec_datagram_brd(&fsm->datagram, 0x0130, 2);
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    ec_master_queue_datagram(fsm->master, &fsm->datagram);
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    fsm->master_state = ec_fsm_startup_broadcast;
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}
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/*****************************************************************************/
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/**
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   Master state: BROADCAST.
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   Processes the broadcast read slave count and slaves states.
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*/
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void ec_fsm_startup_broadcast(ec_fsm_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = &fsm->datagram;
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    unsigned int i;
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    ec_slave_t *slave;
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    ec_master_t *master = fsm->master;
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        EC_ERR("Failed to receive broadcast datagram.\n");
325
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        fsm->master_state = ec_fsm_error;
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        return;
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    }
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    EC_INFO("Scanning bus.\n");
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    ec_master_clear_slaves(master);
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    master->slave_count = datagram->working_counter;
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    if (!master->slave_count) {
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        // no slaves present -> finish state machine.
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        fsm->master_state = ec_fsm_end;
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        return;
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    }
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    // init slaves
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    for (i = 0; i < master->slave_count; i++) {
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        if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
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                                             GFP_KERNEL))) {
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            EC_ERR("Failed to allocate slave %i!\n", i);
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            fsm->master_state = ec_fsm_error;
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            return;
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        }
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        if (ec_slave_init(slave, master, i, i + 1)) {
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            fsm->master_state = ec_fsm_error;
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            return;
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        }
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        if (kobject_add(&slave->kobj)) {
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            EC_ERR("Failed to add kobject.\n");
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            kobject_put(&slave->kobj); // free
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            fsm->master_state = ec_fsm_error;
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            return;
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        }
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        list_add_tail(&slave->list, &master->slaves);
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    }
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    // begin scanning of slaves
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    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
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    fsm->slave_state = ec_fsm_slavescan_start;
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    fsm->master_state = ec_fsm_startup_scan;
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    fsm->master_state(fsm); // execute immediately
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    return;
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}
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/*****************************************************************************/
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/**
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   Master state: SCAN.
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   Executes the sub-statemachine for the scanning of a slave.
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*/
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void ec_fsm_startup_scan(ec_fsm_t *fsm /**< finite state machine */)
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{
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    ec_master_t *master = fsm->master;
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    ec_slave_t *slave = fsm->slave;
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    fsm->slave_state(fsm); // execute slave state machine
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    if (fsm->slave_state == ec_fsm_error) {
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        EC_ERR("Slave scanning failed.\n");
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        fsm->master_state = ec_fsm_error;
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        return;
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    }
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    if (fsm->slave_state != ec_fsm_end) return;
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    // another slave to scan?
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   309
    if (slave->list.next != &master->slaves) {
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        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
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        fsm->slave_state = ec_fsm_slavescan_start;
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        fsm->slave_state(fsm); // execute immediately
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        return;
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   314
    }
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    EC_INFO("Bus scanning completed.\n");
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    ec_master_calc_addressing(master);
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    fsm->master_state = ec_fsm_end;
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}
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/******************************************************************************
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 *  master configuration state machine
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 *****************************************************************************/
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   326
343
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/**
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   Master configuration state machine: START.
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*/
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   330
325
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void ec_fsm_configuration_start(ec_fsm_t *fsm /**< finite state machine */)
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{
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    ec_master_t *master = fsm->master;
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    if (list_empty(&master->slaves)) {
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        fsm->master_state = ec_fsm_end;
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        return;
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   338
    }
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    // begin configuring slaves
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    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
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   342
    fsm->slave_state = ec_fsm_slaveconf_init;
434
0180d8277311 Layed out state change state machine.
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   343
    ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
325
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    fsm->master_state = ec_fsm_configuration_conf;
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   345
    fsm->master_state(fsm); // execute immediately
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diff changeset
   346
}
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   348
/*****************************************************************************/
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   350
/**
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   351
   Master state: CONF.
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   352
*/
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   353
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   354
void ec_fsm_configuration_conf(ec_fsm_t *fsm /**< finite state machine */)
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   355
{
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   356
    ec_master_t *master = fsm->master;
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    ec_slave_t *slave = fsm->slave;
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   359
    fsm->slave_state(fsm); // execute slave's state machine
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   360
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   361
    if (fsm->slave_state == ec_fsm_error) {
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diff changeset
   362
        fsm->master_state = ec_fsm_error;
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diff changeset
   363
        return;
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diff changeset
   364
    }
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   365
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   366
    if (fsm->slave_state != ec_fsm_end) return;
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   368
    // another slave to configure?
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   369
    if (slave->list.next != &master->slaves) {
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   370
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
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diff changeset
   371
        fsm->slave_state = ec_fsm_slaveconf_init;
434
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diff changeset
   372
        ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
325
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   373
        fsm->master_state(fsm); // execute immediately
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diff changeset
   374
        return;
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diff changeset
   375
    }
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   376
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   377
    fsm->master_state = ec_fsm_end;
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diff changeset
   378
}
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   379
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   380
/******************************************************************************
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diff changeset
   381
 *  operation / idle state machine
238
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diff changeset
   382
 *****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   383
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   384
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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   385
   Master state: START.
238
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   386
   Starts with getting slave count and slave states.
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   387
*/
b4960499098f Added finite state machine (FSM) processing.
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parents:
diff changeset
   388
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diff changeset
   389
void ec_fsm_master_start(ec_fsm_t *fsm)
b4960499098f Added finite state machine (FSM) processing.
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parents:
diff changeset
   390
{
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   391
    ec_datagram_brd(&fsm->datagram, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   392
    ec_master_queue_datagram(fsm->master, &fsm->datagram);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   393
    fsm->master_state = ec_fsm_master_broadcast;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   394
}
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diff changeset
   395
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   396
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   397
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   398
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   399
   Master state: BROADCAST.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   400
   Processes the broadcast read slave count and slaves states.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   401
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   402
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   403
void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   404
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   405
    ec_datagram_t *datagram = &fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   406
    unsigned int topology_change, states_change, i;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
    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
   408
    ec_master_t *master = fsm->master;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   410
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   411
        if (!master->device->link_state) {
254
986afccca9ea Link down treated as topology change in state machine.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   412
            fsm->master_slaves_responding = 0;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   413
            list_for_each_entry(slave, &master->slaves, list) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   414
                slave->online = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   415
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   416
        }
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
        fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   422
    topology_change = (datagram->working_counter !=
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   423
                       fsm->master_slaves_responding);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   424
    states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   425
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   426
    fsm->master_slave_states = EC_READ_U8(datagram->data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   427
    fsm->master_slaves_responding = datagram->working_counter;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   428
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   429
    if (topology_change) {
262
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   430
        EC_INFO("%i slave%s responding.\n",
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   431
                fsm->master_slaves_responding,
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   432
                fsm->master_slaves_responding == 1 ? "" : "s");
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   433
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   434
        if (master->mode == EC_MASTER_MODE_OPERATION) {
262
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   435
            if (fsm->master_slaves_responding == master->slave_count) {
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   436
                fsm->master_validation = 1; // start validation later
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   437
            }
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   438
            else {
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   439
                EC_WARN("Invalid slave count. Bus in tainted state.\n");
636d43737371 Corrected output at slave count change.
Florian Pose <fp@igh-essen.com>
parents: 260
diff changeset
   440
            }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   441
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   442
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   443
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   444
    if (states_change) {
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 402
diff changeset
   445
        char states[EC_STATE_STRING_SIZE];
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   446
        ec_state_string(fsm->master_slave_states, states);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   447
        EC_INFO("Slave states: %s.\n", states);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   448
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   449
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 304
diff changeset
   450
    // topology change in idle mode: clear all slaves and scan the bus
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 304
diff changeset
   451
    if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   452
        EC_INFO("Scanning bus.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   453
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   454
        ec_master_eoe_stop(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   455
        ec_master_clear_slaves(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   456
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   457
        master->slave_count = datagram->working_counter;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   458
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   459
        if (!master->slave_count) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   460
            // no slaves present -> finish state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   461
            fsm->master_state = ec_fsm_master_start;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   462
            fsm->master_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   463
            return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   464
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   465
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   466
        // init slaves
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   467
        for (i = 0; i < master->slave_count; i++) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   468
            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   469
                                                 GFP_ATOMIC))) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   470
                EC_ERR("Failed to allocate slave %i!\n", i);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   471
                ec_master_clear_slaves(master);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   472
                fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   473
                fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   474
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   475
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   476
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   477
            if (ec_slave_init(slave, master, i, i + 1)) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   478
                // freeing of "slave" already done
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   479
                ec_master_clear_slaves(master);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   480
                fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   481
                fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   482
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   483
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   484
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   485
            if (kobject_add(&slave->kobj)) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   486
                EC_ERR("Failed to add kobject.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   487
                kobject_put(&slave->kobj); // free
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   488
                ec_master_clear_slaves(master);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   489
                fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   490
                fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   491
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   492
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   493
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   494
            list_add_tail(&slave->list, &master->slaves);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   495
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   496
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   497
        // begin scanning of slaves
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   498
        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   499
        fsm->slave_state = ec_fsm_slavescan_start;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   500
        fsm->master_state = ec_fsm_master_scan_slaves;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   501
        fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   502
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   503
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   504
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   505
    // fetch state from each slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   506
    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   507
    ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   508
    ec_master_queue_datagram(master, &fsm->datagram);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   509
    fsm->master_state = ec_fsm_master_read_states;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   510
}
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   511
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   512
/*****************************************************************************/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   513
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   514
/**
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   515
   Master action: PROC_STATES.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   516
   Processes the slave states.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   517
*/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   518
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   519
void ec_fsm_master_action_process_states(ec_fsm_t *fsm
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   520
                                         /**< finite state machine */
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   521
                                         )
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   522
{
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   523
    ec_master_t *master = fsm->master;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   524
    ec_slave_t *slave;
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 402
diff changeset
   525
    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   526
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   527
    // check if any slaves are not in the state, they're supposed to be
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   528
    list_for_each_entry(slave, &master->slaves, list) {
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   529
        if (slave->error_flag
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   530
            || !slave->online
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   531
            || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   532
            || (slave->current_state == slave->requested_state
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   533
                && (slave->configured
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   534
                    || slave->current_state == EC_SLAVE_STATE_INIT))) continue;
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   535
437
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   536
        ec_state_string(slave->current_state, old_state);
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   537
        ec_state_string(slave->requested_state, new_state);
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   538
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   539
        if (!slave->configured
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   540
            && slave->current_state != EC_SLAVE_STATE_INIT) {
437
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   541
            EC_INFO("Reconfiguring slave %i (%s -> %s).\n",
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   542
                    slave->ring_position, old_state, new_state);
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   543
        }
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   544
        else if (slave->current_state != slave->requested_state) {
ef80f2faa2c5 Minot output changes in fsm.c
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   545
            EC_INFO("Changing state of slave %i (%s -> %s).\n",
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   546
                    slave->ring_position, old_state, new_state);
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   547
        }
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   548
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   549
        fsm->slave = slave;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   550
        fsm->slave_state = ec_fsm_slaveconf_init;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
   551
        ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   552
        fsm->master_state = ec_fsm_master_configure_slave;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   553
        fsm->master_state(fsm); // execute immediately
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   554
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   555
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   556
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   557
    // Check, if EoE processing has to be started
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   558
    ec_master_eoe_start(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   559
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
   560
    if (master->mode == EC_MASTER_MODE_IDLE) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   561
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   562
        // Check for a pending SDO request
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   563
        if (master->sdo_seq_master != master->sdo_seq_user) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   564
            if (master->debug_level)
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   565
                EC_DBG("Processing SDO request...\n");
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   566
            slave = master->sdo_request->sdo->slave;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   567
            if (slave->current_state == EC_SLAVE_STATE_INIT
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   568
                || !slave->online
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   569
                || slave->error_flag) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   570
                EC_ERR("Failed to process SDO request, slave %i not ready.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   571
                       slave->ring_position);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   572
                master->sdo_request->return_code = -1;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   573
                master->sdo_seq_master++;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   574
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   575
            else {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   576
                // start uploading SDO
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   577
                fsm->slave = slave;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   578
                fsm->master_state = ec_fsm_master_sdo_request;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   579
                fsm->sdo_request = master->sdo_request;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   580
                ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   581
                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   582
                return;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   583
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   584
        }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   585
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   586
        // check, if slaves have an SDO dictionary to read out.
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   587
        list_for_each_entry(slave, &master->slaves, list) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   588
            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   589
                || 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
   590
                || slave->current_state == EC_SLAVE_STATE_INIT
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   591
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   592
                || !slave->online
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   593
                || slave->error_flag) continue;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   594
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   595
            if (master->debug_level) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   596
                EC_DBG("Fetching SDO dictionary from slave %i.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   597
                       slave->ring_position);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   598
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   599
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   600
            if (kobject_add(&slave->sdo_kobj)) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   601
                EC_ERR("Failed to add SDO kobj of slave %i.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   602
                       slave->ring_position);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   603
                slave->error_flag = 1;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   604
                fsm->master_state = ec_fsm_master_start;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   605
                fsm->master_state(fsm); // execute immediately
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   606
                return;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   607
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   608
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   609
            slave->sdo_dictionary_fetched = 1;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   610
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   611
            // start fetching SDO dictionary
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   612
            fsm->slave = slave;
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
   613
            fsm->master_state = ec_fsm_master_sdodict;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   614
            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   615
            ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   616
            return;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   617
        }
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
   618
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   619
        // check for pending EEPROM write operations.
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   620
        list_for_each_entry(slave, &master->slaves, list) {
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   621
            if (!slave->new_eeprom_data) continue;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   622
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   623
            if (!slave->online || slave->error_flag) {
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   624
                kfree(slave->new_eeprom_data);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   625
                slave->new_eeprom_data = NULL;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   626
                EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   627
                       slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   628
                continue;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   629
            }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   630
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   631
            // found pending EEPROM write operation. execute it!
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   632
            EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   633
            fsm->sii_offset = 0x0000;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   634
            ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   635
                             slave->new_eeprom_data, EC_FSM_SII_NODE);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   636
            fsm->master_state = ec_fsm_master_write_eeprom;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   637
            fsm->master_state(fsm); // execute immediately
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   638
            return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   639
        }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   640
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   641
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   642
    // nothing to do. restart master state machine.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   643
    fsm->master_state = ec_fsm_master_start;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   644
    fsm->master_state(fsm); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   645
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   646
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   647
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   648
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   649
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   650
   Master action: Get state of next slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   651
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   652
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   653
void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   654
                                           /**< finite state machine */)
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   655
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   656
    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
   657
    ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   658
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   659
    // is there another slave to query?
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   660
    if (slave->list.next != &master->slaves) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   661
        // process next slave
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   662
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   663
        ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   664
                         0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   665
        ec_master_queue_datagram(master, &fsm->datagram);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   666
        fsm->master_state = ec_fsm_master_read_states;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   667
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   668
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   669
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   670
    // all slave states read
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   671
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   672
    // check, if a bus validation has to be done
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   673
    if (fsm->master_validation) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   674
        fsm->master_validation = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   675
        list_for_each_entry(slave, &master->slaves, list) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   676
            if (slave->online) continue;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   677
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   678
            // At least one slave is offline. validate!
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   679
            EC_INFO("Validating bus.\n");
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   680
            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   681
            fsm->master_state = ec_fsm_master_validate_vendor;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   682
            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   683
            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   684
            return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   685
        }
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   686
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   687
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   688
    ec_fsm_master_action_process_states(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   689
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   690
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   691
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   692
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   693
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   694
   Master state: READ STATES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   695
   Fetches the AL- and online state of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   696
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   697
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   698
void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   699
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   700
    ec_slave_t *slave = fsm->slave;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   701
    ec_datagram_t *datagram = &fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   702
    uint8_t new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   703
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   704
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
        fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   710
    // did the slave not respond to its station address?
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   711
    if (datagram->working_counter != 1) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   712
        if (slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   713
            slave->online = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   714
            EC_INFO("Slave %i: offline.\n", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   715
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   716
        ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   717
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   718
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   719
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   720
    // slave responded
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   721
    new_state = EC_READ_U8(datagram->data);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   722
    if (!slave->online) { // slave was offline before
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 402
diff changeset
   723
        char cur_state[EC_STATE_STRING_SIZE];
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   724
        slave->online = 1;
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   725
        slave->error_flag = 0; // clear error flag
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   726
        slave->current_state = new_state;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   727
        ec_state_string(slave->current_state, cur_state);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   728
        EC_INFO("Slave %i: online (%s).\n", slave->ring_position, cur_state);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   729
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   730
    else if (new_state != slave->current_state) {
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 402
diff changeset
   731
        char old_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   732
        ec_state_string(slave->current_state, old_state);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   733
        ec_state_string(new_state, cur_state);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   734
        EC_INFO("Slave %i: %s -> %s.\n",
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   735
                slave->ring_position, old_state, cur_state);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   736
        slave->current_state = new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   737
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   738
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   739
    ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   740
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   741
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   742
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   743
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   744
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   745
   Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   746
   Validates the vendor ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   747
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   748
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   749
void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   750
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   751
    ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   752
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   753
    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
   754
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   755
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   756
        fsm->slave->error_flag = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   757
        EC_ERR("Failed to validate vendor ID of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   758
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
        fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   764
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   765
        EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
        fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   767
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   771
    // vendor ID is ok. check product code.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   772
    fsm->master_state = ec_fsm_master_validate_product;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   773
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   774
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   775
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   776
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   777
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   778
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   779
/**
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   780
   Master action: ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   781
   Looks for slave, that have lost their configuration and writes
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   782
   their station address, so that they can be reconfigured later.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   783
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   784
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   785
void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   786
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   787
    ec_datagram_t *datagram = &fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   788
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   789
    while (fsm->slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   790
        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   791
            fsm->master_state = ec_fsm_master_start;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   792
            fsm->master_state(fsm); // execute immediately
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
            return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   795
        // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   796
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   797
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   798
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   799
    EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   800
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   801
    // write station address
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   802
    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   803
    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   804
    ec_master_queue_datagram(fsm->master, datagram);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   805
    fsm->master_state = ec_fsm_master_rewrite_addresses;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   806
}
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   807
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   808
/*****************************************************************************/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   809
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   810
/**
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   811
   Master state: VALIDATE_PRODUCT.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   812
   Validates the product ID of a slave.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   813
*/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   814
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   815
void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   816
{
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   817
    ec_slave_t *slave = fsm->slave;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   818
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   819
    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
   820
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   821
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   822
        fsm->slave->error_flag = 1;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   823
        EC_ERR("Failed to validate product code of slave %i.\n",
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   824
               slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   825
        fsm->master_state = ec_fsm_master_start;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   826
        fsm->master_state(fsm); // execute immediately
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   827
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   828
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   829
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   830
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   831
        EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   832
        EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   833
               EC_READ_U32(fsm->fsm_sii.value));
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   834
        fsm->master_state = ec_fsm_master_start;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   835
        fsm->master_state(fsm); // execute immediately
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   836
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   837
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   838
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   839
    // have all states been validated?
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   840
    if (slave->list.next == &fsm->master->slaves) {
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   841
        fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   842
        // start writing addresses to offline slaves
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   843
        ec_fsm_master_action_addresses(fsm);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   844
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   845
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   846
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   847
    // validate next slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   848
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   849
    fsm->master_state = ec_fsm_master_validate_vendor;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   850
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   851
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   852
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   853
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   854
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   855
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   856
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   857
   Master state: REWRITE ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   858
   Checks, if the new station address has been written to the slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   859
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   860
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   861
void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   862
                                     /**< finite state machine */
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   863
                                     )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   864
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   865
    ec_slave_t *slave = fsm->slave;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   866
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   867
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   868
    if (datagram->state != EC_DATAGRAM_RECEIVED
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   869
        || datagram->working_counter != 1) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   870
        EC_ERR("Failed to write station address on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   871
               slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   872
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   873
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   874
    if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   875
        fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   876
        fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   877
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   878
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   879
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   880
    // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   881
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   882
    // Write new station address to slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   883
    ec_fsm_master_action_addresses(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   885
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   886
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   887
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   888
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   889
   Master state: SCAN SLAVES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   890
   Executes the sub-statemachine for the scanning of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   891
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   892
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   893
void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   894
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   895
    ec_master_t *master = fsm->master;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   896
    ec_slave_t *slave = fsm->slave;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   897
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   898
    fsm->slave_state(fsm); // execute slave state machine
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   899
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   900
    if (fsm->slave_state != ec_fsm_end
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   901
        && fsm->slave_state != ec_fsm_error) return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   902
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   903
    // another slave to fetch?
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   904
    if (slave->list.next != &master->slaves) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   905
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   906
        fsm->slave_state = ec_fsm_slavescan_start;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   907
        fsm->slave_state(fsm); // execute immediately
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   908
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   909
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   910
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   911
    EC_INFO("Bus scanning completed.\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   912
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   913
    ec_master_calc_addressing(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   914
428
2731a2fcc18d Set initial state of all slaves to PREOP.
Florian Pose <fp@igh-essen.com>
parents: 427
diff changeset
   915
    // set initial states of all slaves to PREOP to make mailbox
2731a2fcc18d Set initial state of all slaves to PREOP.
Florian Pose <fp@igh-essen.com>
parents: 427
diff changeset
   916
    // communication possible
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   917
    list_for_each_entry(slave, &master->slaves, list) {
428
2731a2fcc18d Set initial state of all slaves to PREOP.
Florian Pose <fp@igh-essen.com>
parents: 427
diff changeset
   918
        slave->requested_state = EC_SLAVE_STATE_PREOP;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   919
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   920
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   921
    fsm->master_state = ec_fsm_master_start;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   922
    fsm->master_state(fsm); // execute immediately
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   923
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   924
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   925
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   926
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   927
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   928
   Master state: CONFIGURE SLAVES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   929
   Starts configuring a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   930
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   931
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   932
void ec_fsm_master_configure_slave(ec_fsm_t *fsm
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   933
                                   /**< finite state machine */
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   934
                                   )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   935
{
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   936
    fsm->slave_state(fsm); // execute slave's state machine
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   937
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   938
    if (fsm->slave_state != ec_fsm_end
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   939
        && fsm->slave_state != ec_fsm_error) return;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   940
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   941
    ec_fsm_master_action_process_states(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   942
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   943
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   944
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   945
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   946
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   947
   Master state: WRITE EEPROM.
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   948
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   949
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   950
void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   951
{
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   952
    ec_slave_t *slave = fsm->slave;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   953
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   954
    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
   955
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   956
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   957
        fsm->slave->error_flag = 1;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   958
        EC_ERR("Failed to write EEPROM contents to slave %i.\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   959
               slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   960
        kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   961
        slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   962
        fsm->master_state = ec_fsm_master_start;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   963
        fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   964
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   965
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   966
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   967
    fsm->sii_offset++;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   968
    if (fsm->sii_offset < slave->new_eeprom_size) {
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   969
        ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   970
                         slave->new_eeprom_data + fsm->sii_offset,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   971
                         EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   972
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   973
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   974
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   975
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   976
    // finished writing EEPROM
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   977
    EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   978
    kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   979
    slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   980
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   981
    // TODO: Evaluate new EEPROM contents!
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   982
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   983
    // restart master state machine.
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   984
    fsm->master_state = ec_fsm_master_start;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   985
    fsm->master_state(fsm); // execute immediately
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   986
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   987
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   988
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   989
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   990
/**
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   991
   Master state: SDODICT.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   992
*/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   993
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   994
void ec_fsm_master_sdodict(ec_fsm_t *fsm /**< finite state machine */)
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   995
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   996
    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
   997
    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
   998
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   999
    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
  1000
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1001
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
426
0d3022ee35a2 Fixed bug in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 425
diff changeset
  1002
        fsm->master_state = ec_fsm_master_start;
0d3022ee35a2 Fixed bug in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 425
diff changeset
  1003
        fsm->master_state(fsm); // execute immediately
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1004
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1005
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1006
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1007
    // SDO dictionary fetching finished
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1008
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1009
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1010
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1011
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1012
        EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1013
               sdo_count, entry_count, slave->ring_position);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1014
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1015
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1016
    // restart master state machine.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1017
    fsm->master_state = ec_fsm_master_start;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1018
    fsm->master_state(fsm); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1019
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1020
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1021
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1022
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1023
/**
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1024
   Master state: SDO REQUEST.
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1025
*/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1026
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1027
void ec_fsm_master_sdo_request(ec_fsm_t *fsm /**< finite state machine */)
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1028
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1029
    ec_master_t *master = fsm->master;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1030
    ec_sdo_request_t *request = fsm->sdo_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1031
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1032
    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
  1033
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1034
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1035
        request->return_code = -1;
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
  1036
        master->sdo_seq_master++;
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1037
        fsm->master_state = ec_fsm_master_start;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1038
        fsm->master_state(fsm); // execute immediately
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1039
        return;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1040
    }
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1041
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1042
    // SDO dictionary fetching finished
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1043
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1044
    request->return_code = 1;
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
  1045
    master->sdo_seq_master++;
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1046
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1047
    // restart master state machine.
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1048
    fsm->master_state = ec_fsm_master_start;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1049
    fsm->master_state(fsm); // execute immediately
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1050
}
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1051
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1052
/******************************************************************************
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1053
 *  slave scan state machine
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1054
 *****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1055
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1056
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1057
   Slave scan state: START.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1058
   First state of the slave state machine. Writes the station address to the
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1059
   slave, according to its ring position.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1060
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1061
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1062
void ec_fsm_slavescan_start(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1064
    ec_datagram_t *datagram = &fsm->datagram;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1065
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1066
    // write station address
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1067
    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1068
    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1069
    ec_master_queue_datagram(fsm->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1070
    fsm->slave_state = ec_fsm_slavescan_address;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1071
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1072
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1073
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1074
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1075
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1076
   Slave scan state: ADDRESS.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1077
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1078
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1079
void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1080
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1081
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1082
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1083
    if (datagram->state != EC_DATAGRAM_RECEIVED
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1084
        || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1085
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1086
        fsm->slave_state = ec_fsm_error;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1087
        EC_ERR("Failed to write station address of slave %i.\n",
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1088
               fsm->slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1089
        return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1090
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1091
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1092
    // Read AL state
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1093
    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1094
    ec_master_queue_datagram(fsm->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1095
    fsm->slave_state = ec_fsm_slavescan_state;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1096
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1097
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1098
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1099
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1100
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1101
   Slave scan state: STATE.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1102
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1103
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1104
void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
255
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1105
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1106
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1107
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1108
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1109
    if (datagram->state != EC_DATAGRAM_RECEIVED
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1110
        || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1111
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1112
        fsm->slave_state = ec_fsm_error;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1113
        EC_ERR("Failed to read AL state of slave %i.\n",
255
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1114
               fsm->slave->ring_position);
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1115
        return;
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1116
    }
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1117
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1118
    slave->current_state = EC_READ_U8(datagram->data);
402
03e31ac14047 Renamed EC_ACK to EC_SLAVE_STATE_ACK_ERR
Florian Pose <fp@igh-essen.com>
parents: 398
diff changeset
  1119
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1120
        EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
255
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1121
                slave->ring_position, slave->current_state);
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1122
    }
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
  1123
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1124
    // read base data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1125
    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1126
    ec_master_queue_datagram(fsm->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1127
    fsm->slave_state = ec_fsm_slavescan_base;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1128
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1129
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1130
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1131
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1132
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1133
   Slave scan state: BASE.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1134
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1135
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1136
void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1137
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1138
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1139
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1140
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1141
    if (datagram->state != EC_DATAGRAM_RECEIVED
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1142
        || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1143
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1144
        fsm->slave_state = ec_fsm_error;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1145
        EC_ERR("Failed to read base data of slave %i.\n",
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1146
               slave->ring_position);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1147
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1148
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1149
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1150
    slave->base_type       = EC_READ_U8 (datagram->data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1151
    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1152
    slave->base_build      = EC_READ_U16(datagram->data + 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1153
    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1154
    slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1155
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1156
    if (slave->base_fmmu_count > EC_MAX_FMMUS)
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1157
        slave->base_fmmu_count = EC_MAX_FMMUS;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1158
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1159
    // read data link status
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1160
    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1161
    ec_master_queue_datagram(slave->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1162
    fsm->slave_state = ec_fsm_slavescan_datalink;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1163
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1164
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1165
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1166
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1167
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1168
   Slave scan state: DATALINK.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1169
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1170
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1171
void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1172
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1173
    ec_datagram_t *datagram = &fsm->datagram;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1174
    ec_slave_t *slave = fsm->slave;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1175
    uint16_t dl_status;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1176
    unsigned int i;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1177
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1178
    if (datagram->state != EC_DATAGRAM_RECEIVED
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1179
        || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1180
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1181
        fsm->slave_state = ec_fsm_error;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1182
        EC_ERR("Failed to read DL status of slave %i.\n",
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
               slave->ring_position);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1184
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1186
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1187
    dl_status = EC_READ_U16(datagram->data);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1188
    for (i = 0; i < 4; i++) {
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1189
        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1190
        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1192
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1193
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1194
    // Start fetching EEPROM size
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1195
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1196
    fsm->sii_offset = 0x0040; // first category header
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1197
    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1198
    fsm->slave_state = ec_fsm_slavescan_eeprom_size;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1199
    fsm->slave_state(fsm); // execute state immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1200
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1201
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1202
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1203
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1204
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1205
   Slave scan state: EEPROM SIZE.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1206
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1207
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1208
void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1209
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1210
    ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1211
    uint16_t cat_type, cat_size;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1212
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1213
    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
  1214
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1215
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1216
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1217
        fsm->slave_state = ec_fsm_error;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1218
        EC_ERR("Failed to read EEPROM size of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1219
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1220
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1221
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1222
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1223
    cat_type = EC_READ_U16(fsm->fsm_sii.value);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1224
    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1225
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1226
    if (cat_type != 0xFFFF) { // not the last category
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1227
        fsm->sii_offset += cat_size + 2;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1228
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1229
                        EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1230
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1231
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1232
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1233
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1234
    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1235
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1236
    if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1237
        EC_INFO("Freeing old EEPROM data on slave %i...\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1238
                slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1239
        kfree(slave->eeprom_data);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1240
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1241
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1242
    if (!(slave->eeprom_data =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1243
          (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1244
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1245
        fsm->slave_state = ec_fsm_error;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1246
        EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1247
               slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1248
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1249
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1250
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1251
    // Start fetching EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1252
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1253
    fsm->slave_state = ec_fsm_slavescan_eeprom_data;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1254
    fsm->sii_offset = 0x0000;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1255
    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1256
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1257
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1258
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1260
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1261
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1262
   Slave scan state: EEPROM DATA.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1263
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1264
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1265
void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1266
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1267
    ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1268
    uint16_t *cat_word, cat_type, cat_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1269
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1270
    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
  1271
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1272
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1273
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1274
        fsm->slave_state = ec_fsm_error;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1275
        EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1276
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1277
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1278
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1279
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1280
    // 2 words fetched
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1281
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1282
    if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1283
        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1284
               fsm->fsm_sii.value, 4);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1285
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1286
    else { // copy the last word
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1287
        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1288
               fsm->fsm_sii.value, 2);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1289
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1290
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1291
    if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1292
        // fetch the next 2 words
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1293
        fsm->sii_offset += 2;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1294
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1295
                        EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1296
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1297
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1298
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1299
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1300
    // Evaluate EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1301
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1302
    slave->sii_alias =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1303
        EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1304
    slave->sii_vendor_id =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1305
        EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1306
    slave->sii_product_code =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1307
        EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1308
    slave->sii_revision_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1309
        EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1310
    slave->sii_serial_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1311
        EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1312
    slave->sii_rx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1313
        EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1314
    slave->sii_rx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1315
        EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1316
    slave->sii_tx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1317
        EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1318
    slave->sii_tx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1319
        EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1320
    slave->sii_mailbox_protocols =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1321
        EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1322
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1323
    // evaluate category data
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1324
    cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1325
    while (EC_READ_U16(cat_word) != 0xFFFF) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1326
        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1327
        cat_size = EC_READ_U16(cat_word + 1);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1328
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1329
        switch (cat_type) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1330
            case 0x000A:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1331
                if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1332
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1333
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1334
            case 0x001E:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1335
                ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1336
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1337
            case 0x0028:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1338
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1339
            case 0x0029:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1340
                if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1341
                                        cat_size))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1342
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1343
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1344
            case 0x0032:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1345
                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1346
                                       cat_size, EC_TX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1347
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1348
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1349
            case 0x0033:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1350
                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1351
                                       cat_size, EC_RX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1352
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1353
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1354
            default:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1355
                EC_WARN("Unknown category type 0x%04X in slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1356
                        cat_type, slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1357
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1358
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1359
        cat_word += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1360
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1361
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1362
    fsm->slave_state = ec_fsm_end;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1363
    return;
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1364
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1365
end:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1366
    EC_ERR("Failed to analyze category data.\n");
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1367
    fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1368
    fsm->slave_state = ec_fsm_error;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1369
}
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1370
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1371
/******************************************************************************
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1372
 *  slave configuration state machine
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1373
 *****************************************************************************/
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1374
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1375
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1376
   Slave configuration state: INIT.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1377
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1378
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1379
void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1380
{
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1381
    ec_master_t *master = fsm->master;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1382
    ec_slave_t *slave = fsm->slave;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1383
    ec_datagram_t *datagram = &fsm->datagram;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1384
    const ec_sii_sync_t *sync;
420
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1385
    ec_sii_sync_t mbox_sync;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1386
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1387
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1388
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1389
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1390
        slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1391
        fsm->slave_state = ec_fsm_error;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1392
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1393
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1394
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
  1395
    slave->configured = 1;
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
  1396
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1397
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1398
        EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1399
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1400
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1401
    // slave is now in INIT
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1402
    if (slave->current_state == slave->requested_state) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1403
        fsm->slave_state = ec_fsm_end; // successful
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1404
        if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1405
            EC_DBG("Finished configuration of slave %i.\n",
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1406
                   slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1407
        }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1408
        return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1409
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1410
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1411
    // check and reset CRC fault counters
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1412
    //ec_slave_check_crc(slave);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1413
    // TODO: Implement state machine for CRC checking.
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1414
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1415
    if (!slave->base_sync_count) { // no sync managers
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1416
        fsm->slave_state = ec_fsm_slaveconf_preop;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1417
        ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1418
        ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1419
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1420
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1421
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1422
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1423
        EC_DBG("Configuring sync managers of slave %i.\n",
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1424
               slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1425
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1426
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1427
    // configure sync managers
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1428
    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1429
                     EC_SYNC_SIZE * slave->base_sync_count);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1430
    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1431
420
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1432
    if (list_empty(&slave->sii_syncs)) {
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1433
        if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1434
            if (slave->master->debug_level)
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1435
                EC_DBG("Guessing sync manager settings for slave %i.\n",
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1436
                       slave->ring_position);
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1437
            mbox_sync.index = 0;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1438
            mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1439
            mbox_sync.length = slave->sii_tx_mailbox_size;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1440
            mbox_sync.control_register = 0x26;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1441
            mbox_sync.enable = 0x01;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1442
            mbox_sync.est_length = 0;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1443
            ec_sync_config(&mbox_sync, slave,
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1444
                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1445
            mbox_sync.index = 1;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1446
            mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1447
            mbox_sync.length = slave->sii_rx_mailbox_size;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1448
            mbox_sync.control_register = 0x22;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1449
            mbox_sync.enable = 0x01;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1450
            mbox_sync.est_length = 0;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1451
            ec_sync_config(&mbox_sync, slave,
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1452
                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1453
        }
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1454
    }
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1455
    else {
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1456
        list_for_each_entry(sync, &slave->sii_syncs, list) {
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1457
            if (sync->index >= slave->base_sync_count) {
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1458
                EC_ERR("Invalid sync manager configuration found!");
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1459
                fsm->slave->error_flag = 1;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1460
                fsm->slave_state = ec_fsm_error;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1461
                return;
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1462
            }
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1463
            ec_sync_config(sync, slave,
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1464
                           datagram->data + EC_SYNC_SIZE * sync->index);
0ae52c37179b Guess sync manager settings if mailbox information available.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
  1465
        }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1466
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1467
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1468
    ec_master_queue_datagram(fsm->master, datagram);
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1469
    fsm->slave_state = ec_fsm_slaveconf_sync;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1470
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1471
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1472
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1473
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1474
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1475
   Slave configuration state: SYNC.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1476
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1477
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1478
void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1479
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1480
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1481
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1482
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1483
    if (datagram->state != EC_DATAGRAM_RECEIVED
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1484
        || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1485
        slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1486
        fsm->slave_state = ec_fsm_error;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1487
        EC_ERR("Failed to set sync managers on slave %i.\n",
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1488
               slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1489
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1490
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1491
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1492
    fsm->slave_state = ec_fsm_slaveconf_preop;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1493
    ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1494
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1495
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1496
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1497
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1498
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1499
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1500
   Slave configuration state: PREOP.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1501
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1502
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1503
void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1504
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1505
    ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1506
    ec_master_t *master = fsm->master;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1507
    ec_datagram_t *datagram = &fsm->datagram;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1508
    unsigned int j;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1509
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1510
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1511
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1512
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1513
        slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1514
        fsm->slave_state = ec_fsm_error;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1515
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1516
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1517
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1518
    // slave is now in PREOP
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1519
    slave->jiffies_preop = fsm->datagram.jiffies_received;
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1520
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1521
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1522
        EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1523
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1524
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1525
    if (slave->current_state == slave->requested_state) {
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1526
        fsm->slave_state = ec_fsm_end; // successful
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1527
        if (master->debug_level) {
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1528
            EC_DBG("Finished configuration of slave %i.\n",
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1529
                   slave->ring_position);
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1530
        }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1531
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1532
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1533
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1534
    if (!slave->base_fmmu_count) { // skip FMMU configuration
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1535
        if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
338
469369417422 New transition in slave conf state machine: Skip fmmu and SDO configuration.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1536
            fsm->slave_state = ec_fsm_slaveconf_saveop;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1537
            ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1538
            ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
338
469369417422 New transition in slave conf state machine: Skip fmmu and SDO configuration.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1539
            return;
469369417422 New transition in slave conf state machine: Skip fmmu and SDO configuration.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1540
        }
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1541
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1542
        // start SDO configuration
338
469369417422 New transition in slave conf state machine: Skip fmmu and SDO configuration.
Florian Pose <fp@igh-essen.com>
parents: 329
diff changeset
  1543
        fsm->slave_state = ec_fsm_slaveconf_sdoconf;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1544
        fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1545
        ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1546
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1547
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1548
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1549
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1550
    // configure FMMUs
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1551
    ec_datagram_npwr(datagram, slave->station_address,
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1552
                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1553
    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1554
    for (j = 0; j < slave->fmmu_count; j++) {
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1555
        ec_fmmu_config(&slave->fmmus[j], slave,
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1556
                       datagram->data + EC_FMMU_SIZE * j);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1557
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1558
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1559
    ec_master_queue_datagram(master, datagram);
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1560
    fsm->slave_state = ec_fsm_slaveconf_fmmu;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1561
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1562
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1563
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1564
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1565
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1566
   Slave configuration state: FMMU.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1567
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1568
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1569
void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1570
{
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1571
    ec_datagram_t *datagram = &fsm->datagram;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1572
    ec_slave_t *slave = fsm->slave;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1573
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1574
    if (datagram->state != EC_DATAGRAM_RECEIVED
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1575
        || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1576
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1577
        fsm->slave_state = ec_fsm_error;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1578
        EC_ERR("Failed to set FMMUs on slave %i.\n",
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1579
               fsm->slave->ring_position);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1580
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1581
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1582
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1583
    // No CoE configuration to be applied? Jump to SAVEOP state.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1584
    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1585
        // set state to SAVEOP
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1586
        fsm->slave_state = ec_fsm_slaveconf_saveop;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1587
        ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1588
        ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1589
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1590
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1591
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1592
    // start SDO configuration
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1593
    fsm->slave_state = ec_fsm_slaveconf_sdoconf;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1594
    fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1595
    ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1596
    ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1597
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1598
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1599
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1600
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1601
/**
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1602
   Slave configuration state: SDOCONF.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1603
*/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1604
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1605
void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1606
{
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1607
    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
  1608
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1609
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1610
        fsm->slave->error_flag = 1;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1611
        fsm->slave_state = ec_fsm_error;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1612
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1613
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1614
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1615
    // Another SDO to configure?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1616
    if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1617
        fsm->sdodata = list_entry(fsm->sdodata->list.next,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1618
                                  ec_sdo_data_t, list);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1619
        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1620
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1621
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1622
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1623
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1624
    // All SDOs are now configured.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1625
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1626
    // set state to SAVEOP
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1627
    fsm->slave_state = ec_fsm_slaveconf_saveop;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1628
    ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1629
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1630
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1631
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1632
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1633
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1634
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1635
   Slave configuration state: SAVEOP.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1636
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1637
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1638
void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1639
{
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1640
    ec_master_t *master = fsm->master;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1641
    ec_slave_t *slave = fsm->slave;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1642
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1643
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1644
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1645
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1646
        fsm->slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1647
        fsm->slave_state = ec_fsm_error;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1648
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1649
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1650
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1651
    // slave is now in SAVEOP
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1652
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1653
    if (master->debug_level) {
411
42d239bab6ae Fixed typo.
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1654
        EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1655
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1656
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1657
    if (fsm->slave->current_state == fsm->slave->requested_state) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1658
        fsm->slave_state = ec_fsm_end; // successful
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1659
        if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1660
            EC_DBG("Finished configuration of slave %i.\n",
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1661
                   slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1662
        }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1663
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1664
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1665
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1666
    // set state to OP
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1667
    fsm->slave_state = ec_fsm_slaveconf_op;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1668
    ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1669
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1670
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1671
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1672
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1673
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1674
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1675
   Slave configuration state: OP
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1676
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1677
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1678
void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1679
{
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1680
    ec_master_t *master = fsm->master;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1681
    ec_slave_t *slave = fsm->slave;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1682
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1683
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1684
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1685
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1686
        slave->error_flag = 1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1687
        fsm->slave_state = ec_fsm_error;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1688
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1689
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1690
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1691
    // slave is now in OP
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1692
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1693
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1694
        EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1695
        EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1696
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1697
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1698
    fsm->slave_state = ec_fsm_end; // successful
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1699
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1700
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1701
/******************************************************************************
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1702
 *  Common state functions
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1703
 *****************************************************************************/
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1704
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1705
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1706
   State: ERROR.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1707
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1708
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1709
void ec_fsm_error(ec_fsm_t *fsm /**< finite state machine */)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1710
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1711
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1712
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1713
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1714
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1715
/**
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1716
   State: END.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1717
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1718
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1719
void ec_fsm_end(ec_fsm_t *fsm /**< finite state machine */)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1720
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1721
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1722
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1723
/*****************************************************************************/