master/fsm_slave_scan.c
author Florian Pose <fp@igh-essen.com>
Fri, 05 Mar 2010 13:44:57 +0100
changeset 1836 52036efdf1e3
parent 1822 74e6ac2369f4
child 1909 ea3eb4c74c1b
permissions -rw-r--r--
TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave_scan.h"
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/*****************************************************************************/
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_state(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_dc_cap(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_scan_init(
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        ec_fsm_slave_scan_t *fsm, /**< Slave scanning state machine. */
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        ec_datagram_t *datagram, /**< Datagram to use. */
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        ec_fsm_slave_config_t *fsm_slave_config, /**< Slave configuration
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                                                  state machine to use. */
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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration machine to use. */
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        )
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{
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    fsm->datagram = datagram;
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    fsm->fsm_slave_config = fsm_slave_config;
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    fsm->fsm_pdo = fsm_pdo;
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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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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *fsm /**< slave 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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}
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/*****************************************************************************/
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/**
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 * Start slave scan state machine.
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 */
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void ec_fsm_slave_scan_start(
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        ec_fsm_slave_scan_t *fsm, /**< slave state machine */
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_slave_scan_state_start;
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}
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/*****************************************************************************/
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/**
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   \return false, if state machine has terminated
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*/
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int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    return fsm->state != ec_fsm_slave_scan_state_end
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        && fsm->state != ec_fsm_slave_scan_state_error;
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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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   If the state machine's datagram is not sent or received yet, the execution
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   of the state machine is delayed to the next cycle.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   138
        // datagram was not sent or received yet.
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        return ec_fsm_slave_scan_running(fsm);
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   140
    }
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    fsm->state(fsm);
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   143
    return ec_fsm_slave_scan_running(fsm);
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}
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/*****************************************************************************/
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/**
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   \return true, if the state machine terminated gracefully
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*/
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int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    return fsm->state == ec_fsm_slave_scan_state_end;
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   155
}
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/******************************************************************************
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 *  slave scan state machine
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 *****************************************************************************/
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/**
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   Slave scan state: START.
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   First state of the slave state machine. Writes the station address to the
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   slave, according to its ring position.
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*/
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    // write station address
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    ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
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    EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
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    fsm->retries = EC_FSM_RETRIES;
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    fsm->state = ec_fsm_slave_scan_state_address;
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   174
}
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/*****************************************************************************/
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/**
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   Slave scan state: ADDRESS.
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*/
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1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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void ec_fsm_slave_scan_state_address(
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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        ec_fsm_slave_scan_t *fsm /**< slave state machine */
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   184
        )
830
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{
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   186
    ec_datagram_t *datagram = fsm->datagram;
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   188
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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   189
        return;
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   190
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   191
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_slave_scan_state_error;
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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   193
        EC_ERR("Failed to receive station address datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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   194
                fsm->slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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   195
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
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   196
        return;
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   197
    }
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   198
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   199
    if (datagram->working_counter != 1) {
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   200
        fsm->slave->error_flag = 1;
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   201
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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   202
        EC_ERR("Failed to write station address on slave %u: ",
830
d83d92e1a919 Separated slave state machines.
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   203
               fsm->slave->ring_position);
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   204
        ec_datagram_print_wc_error(datagram);
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   205
        return;
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   206
    }
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   207
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   208
    // Read AL state
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   209
    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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   210
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
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   211
    fsm->retries = EC_FSM_RETRIES;
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   212
    fsm->state = ec_fsm_slave_scan_state_state;
d83d92e1a919 Separated slave state machines.
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parents:
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   213
}
d83d92e1a919 Separated slave state machines.
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   214
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   215
/*****************************************************************************/
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   216
d83d92e1a919 Separated slave state machines.
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   217
/**
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   218
   Slave scan state: STATE.
d83d92e1a919 Separated slave state machines.
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   219
*/
d83d92e1a919 Separated slave state machines.
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   220
d83d92e1a919 Separated slave state machines.
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   221
void ec_fsm_slave_scan_state_state(
d83d92e1a919 Separated slave state machines.
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parents:
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   222
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
        )
d83d92e1a919 Separated slave state machines.
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   224
{
d83d92e1a919 Separated slave state machines.
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parents:
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   225
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   227
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   228
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   229
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   230
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   232
        fsm->state = ec_fsm_slave_scan_state_error;
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   233
        EC_ERR("Failed to receive AL state datagram from slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   234
               fsm->slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   235
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   236
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   237
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   238
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   240
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   241
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   242
        EC_ERR("Failed to read AL state of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   243
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   244
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   245
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   247
d83d92e1a919 Separated slave state machines.
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parents:
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   248
    slave->current_state = EC_READ_U8(datagram->data);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   249
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   250
        char state_str[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   251
        ec_state_string(slave->current_state, state_str, 0);
986
a486591ba86b Replaced misleading %i by %u.
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parents: 977
diff changeset
   252
        EC_WARN("Slave %u has state error bit set (%s)!\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   253
                slave->ring_position, state_str);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   254
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   255
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   256
    // read base data
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   257
    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 12);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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parents: 1174
diff changeset
   258
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   259
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   260
    fsm->state = ec_fsm_slave_scan_state_base;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   261
}
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   262
d83d92e1a919 Separated slave state machines.
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   263
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   264
1420
5eb814732c46 Measure port receive times.
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parents: 1419
diff changeset
   265
/** Slave scan state: BASE.
5eb814732c46 Measure port receive times.
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parents: 1419
diff changeset
   266
 */
5eb814732c46 Measure port receive times.
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parents: 1419
diff changeset
   267
void ec_fsm_slave_scan_state_base(
5eb814732c46 Measure port receive times.
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parents: 1419
diff changeset
   268
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
5eb814732c46 Measure port receive times.
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parents: 1419
diff changeset
   269
        )
830
d83d92e1a919 Separated slave state machines.
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parents:
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   270
{
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   271
    ec_datagram_t *datagram = fsm->datagram;
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diff changeset
   272
    ec_slave_t *slave = fsm->slave;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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parents: 1363
diff changeset
   273
    u8 octet;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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parents: 1363
diff changeset
   274
    int i;
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   275
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   276
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   277
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   278
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   279
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   280
        fsm->state = ec_fsm_slave_scan_state_error;
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   281
        EC_ERR("Failed to receive base data datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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parents: 1804
diff changeset
   282
               slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   283
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   290
        EC_ERR("Failed to read base data from slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   295
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    slave->base_type       = EC_READ_U8 (datagram->data);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
    slave->base_build      = EC_READ_U16(datagram->data + 2);
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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parents: 1363
diff changeset
   299
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
    if (slave->base_fmmu_count > EC_MAX_FMMUS) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
        EC_WARN("Slave %u has more FMMUs (%u) than the master can"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
                " handle (%u).\n", slave->ring_position,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
                slave->base_fmmu_count, EC_MAX_FMMUS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
        slave->base_fmmu_count = EC_MAX_FMMUS;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   307
1470
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   308
    slave->base_sync_count = EC_READ_U8(datagram->data + 5);
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   309
    if (slave->base_sync_count > EC_MAX_SYNC_MANAGERS) {
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   310
        EC_WARN("Slave %u provides more sync managers (%u) than the master can"
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   311
                " handle (%u).\n", slave->ring_position,
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   312
                slave->base_sync_count, EC_MAX_SYNC_MANAGERS);
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   313
        slave->base_sync_count = EC_MAX_SYNC_MANAGERS;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   314
    }
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   315
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   316
    octet = EC_READ_U8(datagram->data + 7);
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   317
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1420
diff changeset
   318
        slave->ports[i].desc = (octet >> (2 * i)) & 0x03;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   319
    }
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   320
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   321
    octet = EC_READ_U8(datagram->data + 8);
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   322
    slave->base_fmmu_bit_operation = octet & 0x01;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   323
    slave->base_dc_supported = (octet >> 2) & 0x01;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   324
    slave->base_dc_range = ((octet >> 3) & 0x01) ? EC_DC_64 : EC_DC_32;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   325
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   326
    if (slave->base_dc_supported) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   327
        // read DC capabilities
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   328
        ec_datagram_fprd(datagram, slave->station_address, 0x0910,
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   329
                slave->base_dc_range == EC_DC_64 ? 8 : 4);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   330
        ec_datagram_zero(datagram);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   331
        fsm->retries = EC_FSM_RETRIES;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   332
        fsm->state = ec_fsm_slave_scan_state_dc_cap;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   333
    } else {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   334
        ec_fsm_slave_scan_enter_datalink(fsm);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   335
    }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   336
}
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   337
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   338
/*****************************************************************************/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   339
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   340
/**
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   341
   Slave scan state: DC CAPABILITIES.
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   342
*/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   343
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   344
void ec_fsm_slave_scan_state_dc_cap(
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   345
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   346
        )
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   347
{
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   348
    ec_datagram_t *datagram = fsm->datagram;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   349
    ec_slave_t *slave = fsm->slave;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   350
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   351
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   352
        return;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   353
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   354
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   355
        fsm->state = ec_fsm_slave_scan_state_error;
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   356
        EC_ERR("Failed to receive system time datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   357
               slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   358
        ec_datagram_print_state(datagram);
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   359
        return;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   360
    }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   361
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   362
    if (datagram->working_counter == 1) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   363
        slave->has_dc_system_time = 1;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   364
        if (slave->master->debug_level) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   365
            EC_DBG("Slave %u has the System Time register.\n",
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   366
                    slave->ring_position);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   367
        }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   368
    } else if (datagram->working_counter == 0) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   369
        if (slave->master->debug_level) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   370
            EC_DBG("Slave %u has no System Time register; delay "
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   371
                    "measurement only.\n", slave->ring_position);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   372
        }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   373
    } else {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   374
        fsm->slave->error_flag = 1;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   375
        fsm->state = ec_fsm_slave_scan_state_error;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   376
        EC_ERR("Failed to determine, if system time register is "
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   377
                "supported by slave %u: ", slave->ring_position);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   378
        ec_datagram_print_wc_error(datagram);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   379
        return;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   380
    }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   381
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   382
    // read DC port receive times
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   383
    ec_datagram_fprd(datagram, slave->station_address, 0x0900, 16);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   384
    ec_datagram_zero(datagram);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   385
    fsm->retries = EC_FSM_RETRIES;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   386
    fsm->state = ec_fsm_slave_scan_state_dc_times;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   387
}
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   388
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   389
/*****************************************************************************/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   390
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   391
/**
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   392
   Slave scan state: DC TIMES.
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   393
*/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   394
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   395
void ec_fsm_slave_scan_state_dc_times(
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   396
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   397
        )
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   398
{
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   399
    ec_datagram_t *datagram = fsm->datagram;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   400
    ec_slave_t *slave = fsm->slave;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   401
    int i;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   402
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   403
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   404
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   405
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   406
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   407
        fsm->state = ec_fsm_slave_scan_state_error;
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   408
        EC_ERR("Failed to receive system time datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   409
               slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   410
        ec_datagram_print_state(datagram);
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   411
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   412
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   413
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   414
    if (datagram->working_counter != 1) {
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   415
        fsm->slave->error_flag = 1;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   416
        fsm->state = ec_fsm_slave_scan_state_error;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   417
        EC_ERR("Failed to get DC receive times of slave %u: ",
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   418
                slave->ring_position);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   419
        ec_datagram_print_wc_error(datagram);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   420
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   421
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   422
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   423
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1420
diff changeset
   424
        slave->ports[i].receive_time = EC_READ_U32(datagram->data + 4 * i);
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   425
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   426
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   427
    ec_fsm_slave_scan_enter_datalink(fsm);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   428
}
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   429
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   430
/*****************************************************************************/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   431
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   432
/**
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   433
   Slave scan entry function: DATALINK.
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   434
*/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   435
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   436
void ec_fsm_slave_scan_enter_datalink(
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   437
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   438
        )
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   439
{
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   440
    ec_datagram_t *datagram = fsm->datagram;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   441
    ec_slave_t *slave = fsm->slave;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   442
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
    // read data link status
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
    ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   445
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
    fsm->state = ec_fsm_slave_scan_state_datalink;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
/**
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
   Slave scan state: DATALINK.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
*/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
    uint16_t dl_status;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
        fsm->state = ec_fsm_slave_scan_state_error;
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   468
        EC_ERR("Failed to receive DL status datagram from slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   469
               slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   470
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   477
        EC_ERR("Failed to read DL status from slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
    dl_status = EC_READ_U16(datagram->data);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   484
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1420
diff changeset
   485
        slave->ports[i].link.link_up = dl_status & (1 << (4 + i)) ? 1 : 0;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1420
diff changeset
   486
        slave->ports[i].link.loop_closed = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1420
diff changeset
   487
        slave->ports[i].link.signal_detected = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   490
    // Start fetching SII size
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   491
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   492
    fsm->sii_offset = EC_FIRST_SII_CATEGORY_OFFSET; // first category header
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   495
    fsm->state = ec_fsm_slave_scan_state_sii_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
    fsm->state(fsm); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   502
   Slave scan state: SII SIZE.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   503
*/
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   504
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   505
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
    uint16_t cat_type, cat_size;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   515
        EC_ERR("Failed to read SII size of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
    cat_type = EC_READ_U16(fsm->fsm_sii.value);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
    if (cat_type != 0xFFFF) { // not the last category
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
        off_t next_offset = 2UL + fsm->sii_offset + cat_size;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   525
        if (next_offset >= EC_MAX_SII_SIZE) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   526
            EC_WARN("SII size of slave %u exceeds"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
                    " %u words (0xffff limiter missing?).\n",
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   528
                    slave->ring_position, EC_MAX_SII_SIZE);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
            // cut off category data...
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   530
            slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   531
            goto alloc_sii;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
        fsm->sii_offset = next_offset;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   540
    slave->sii_nwords = fsm->sii_offset + 1;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   541
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   542
alloc_sii:
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   543
    if (slave->sii_words) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   544
        EC_WARN("Freeing old SII data on slave %u...\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
                slave->ring_position);
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   546
        kfree(slave->sii_words);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   547
    }
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   548
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   549
    if (!(slave->sii_words =
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   550
                (uint16_t *) kmalloc(slave->sii_nwords * 2, GFP_KERNEL))) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1470
diff changeset
   551
        EC_ERR("Failed to allocate %zu words of SII data for slave %u.\n",
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   552
               slave->sii_nwords, slave->ring_position);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   553
        slave->sii_nwords = 0;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
        fsm->state = ec_fsm_slave_scan_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   559
    // Start fetching SII contents
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   560
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   561
    fsm->state = ec_fsm_slave_scan_state_sii_data;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
    fsm->sii_offset = 0x0000;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   569
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   571
   Slave scan state: SII DATA.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   572
*/
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   573
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   574
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
    ec_slave_t *slave = fsm->slave;
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   577
    uint16_t *cat_word, cat_type, cat_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
        fsm->state = ec_fsm_slave_scan_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   584
        EC_ERR("Failed to fetch SII contents of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
    // 2 words fetched
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   591
    if (fsm->sii_offset + 2 <= slave->sii_nwords) { // 2 words fit
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   592
        memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 4);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   593
    } else { // copy the last word
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   594
        memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 2);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   595
    }
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   596
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   597
    if (fsm->sii_offset + 2 < slave->sii_nwords) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
        // fetch the next 2 words
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   599
        fsm->sii_offset += 2;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   600
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   601
                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   603
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   606
    // Evaluate SII contents
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   607
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 841
diff changeset
   608
    ec_slave_clear_sync_managers(slave);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   610
    slave->sii.alias =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   611
        EC_READ_U16(slave->sii_words + 0x0004);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   612
    slave->sii.vendor_id =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   613
        EC_READ_U32(slave->sii_words + 0x0008);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   614
    slave->sii.product_code =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   615
        EC_READ_U32(slave->sii_words + 0x000A);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   616
    slave->sii.revision_number =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   617
        EC_READ_U32(slave->sii_words + 0x000C);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   618
    slave->sii.serial_number =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   619
        EC_READ_U32(slave->sii_words + 0x000E);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   620
    slave->sii.boot_rx_mailbox_offset =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   621
        EC_READ_U16(slave->sii_words + 0x0014);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   622
    slave->sii.boot_rx_mailbox_size =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   623
        EC_READ_U16(slave->sii_words + 0x0015);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   624
    slave->sii.boot_tx_mailbox_offset =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   625
        EC_READ_U16(slave->sii_words + 0x0016);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   626
    slave->sii.boot_tx_mailbox_size =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   627
        EC_READ_U16(slave->sii_words + 0x0017);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   628
    slave->sii.std_rx_mailbox_offset =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   629
        EC_READ_U16(slave->sii_words + 0x0018);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   630
    slave->sii.std_rx_mailbox_size =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   631
        EC_READ_U16(slave->sii_words + 0x0019);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   632
    slave->sii.std_tx_mailbox_offset =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   633
        EC_READ_U16(slave->sii_words + 0x001A);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   634
    slave->sii.std_tx_mailbox_size =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   635
        EC_READ_U16(slave->sii_words + 0x001B);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   636
    slave->sii.mailbox_protocols =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   637
        EC_READ_U16(slave->sii_words + 0x001C);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   638
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   639
    if (slave->sii_nwords == EC_FIRST_SII_CATEGORY_OFFSET) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   640
        // sii does not contain category data
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
        fsm->state = ec_fsm_slave_scan_state_end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   645
    if (slave->sii_nwords < EC_FIRST_SII_CATEGORY_OFFSET + 1) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   646
        EC_ERR("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
                " First category header missing.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
                slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
        goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
    // evaluate category data
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   653
    cat_word = slave->sii_words + EC_FIRST_SII_CATEGORY_OFFSET;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
    while (EC_READ_U16(cat_word) != 0xFFFF) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
        // type and size words must fit
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   657
        if (cat_word + 2 - slave->sii_words > slave->sii_nwords) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   658
            EC_ERR("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
                    " Category header incomplete.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
        cat_size = EC_READ_U16(cat_word + 1);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
        cat_word += 2;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   668
        if (cat_word + cat_size - slave->sii_words > slave->sii_nwords) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   669
            EC_WARN("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
                    " Category data incomplete.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
        switch (cat_type) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
            case 0x000A:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
                if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
            case 0x001E:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
                if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   683
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   685
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
            case 0x0028:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
            case 0x0029:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
                if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   692
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   693
            case 0x0032:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   694
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   695
                            cat_size * 2, EC_DIR_INPUT)) // TxPDO
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
            case 0x0033:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   699
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   700
                            cat_size * 2, EC_DIR_OUTPUT)) // RxPDO
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   702
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
            default:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
                if (fsm->slave->master->debug_level)
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 977
diff changeset
   705
                    EC_WARN("Unknown category type 0x%04X in slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
                            cat_type, slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
        cat_word += cat_size;
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   710
        if (cat_word - slave->sii_words >= slave->sii_nwords) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   711
            EC_WARN("Unexpected end of SII data in slave %u:"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   712
                    " Next category header missing.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   718
    ec_fsm_slave_scan_enter_regalias(fsm);
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   719
    return;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   720
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   721
end:
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   722
    EC_ERR("Failed to analyze category data.\n");
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   723
    fsm->slave->error_flag = 1;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   724
    fsm->state = ec_fsm_slave_scan_state_error;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   725
}
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   726
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   727
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   728
/*****************************************************************************/
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   729
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   730
/**
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   731
   Slave scan entry function: REGALIAS.
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   732
*/
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   733
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   734
void ec_fsm_slave_scan_enter_regalias(
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   735
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   736
        )
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   737
{
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   738
    ec_datagram_t *datagram = fsm->datagram;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   739
    ec_slave_t *slave = fsm->slave;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   740
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   741
    // read alias from register 0x0012
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   742
    if (slave->master->debug_level)
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   743
         EC_DBG("Reading alias from register 0x0012 of slave %u.\n",
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   744
                 slave->ring_position);
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   745
    ec_datagram_fprd(datagram, slave->station_address, 0x0012, 2);
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   746
    ec_datagram_zero(datagram);
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   747
    fsm->retries = EC_FSM_RETRIES;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   748
    fsm->state = ec_fsm_slave_scan_state_regalias;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   749
}
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   750
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   751
/*****************************************************************************/
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   752
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   753
/**
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   754
   Slave scan state: REGALIAS.
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   755
*/
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   756
void ec_fsm_slave_scan_state_regalias(
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   757
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1776
diff changeset
   758
        )
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   759
{
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   760
    ec_datagram_t *datagram = fsm->datagram;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   761
    ec_slave_t *slave = fsm->slave;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   762
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   763
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   764
        return;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   765
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   766
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   767
        fsm->state = ec_fsm_slave_scan_state_error;
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   768
        EC_ERR("Failed to receive get reg alias datagram from slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   769
               fsm->slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   770
        ec_datagram_print_state(datagram);
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   771
        return;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   772
    }
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   773
1776
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   774
    if (datagram->working_counter != 1) {
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   775
        EC_WARN("Failed to read reg alias of slave %u.\n",
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   776
        fsm->slave->ring_position);
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   777
    } else {
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   778
        slave->sii.alias = EC_READ_U16(datagram->data);
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   779
        if (slave->master->debug_level)
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   780
            EC_DBG("Alias of slave %u is %u.\n",
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   781
        slave->ring_position,slave->sii.alias);
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   782
    }
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   783
    if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   784
        ec_fsm_slave_scan_enter_preop(fsm);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   785
    } else {
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   786
        fsm->state = ec_fsm_slave_scan_state_end;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   787
    }
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   790
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   791
841
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   792
/** Enter slave scan state PREOP.
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   793
 */
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   794
void ec_fsm_slave_scan_enter_preop(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   795
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   796
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   797
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   798
    ec_slave_t *slave = fsm->slave;
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   799
    uint8_t current_state = slave->current_state & EC_SLAVE_STATE_MASK;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   800
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   801
    if (current_state != EC_SLAVE_STATE_PREOP
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   802
            && current_state != EC_SLAVE_STATE_SAFEOP
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   803
            && current_state != EC_SLAVE_STATE_OP) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   804
        if (slave->master->debug_level) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   805
            char str[EC_STATE_STRING_SIZE];
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   806
            ec_state_string(current_state, str, 0);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   807
            EC_DBG("Slave %u is not in the state to do mailbox com (%s),"
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   808
                    " setting to PREOP.\n", slave->ring_position, str);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   809
        }
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   810
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   811
        fsm->state = ec_fsm_slave_scan_state_preop;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   812
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   813
        ec_fsm_slave_config_start(fsm->fsm_slave_config, slave);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   814
        ec_fsm_slave_config_exec(fsm->fsm_slave_config);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   815
    } else {
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   816
        if (slave->master->debug_level)
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   817
            EC_DBG("Reading mailbox syncmanager configuration of slave %u.\n",
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   818
                    slave->ring_position);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   819
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   820
        /* Scan current sync manager configuration to get configured mailbox
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   821
         * sizes. */
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   822
        ec_datagram_fprd(fsm->datagram, slave->station_address, 0x0800,
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   823
                EC_SYNC_PAGE_SIZE * 2);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   824
        fsm->retries = EC_FSM_RETRIES;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   825
        fsm->state = ec_fsm_slave_scan_state_sync;
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   826
    }
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   827
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   828
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   829
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   830
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   831
/** Slave scan state: PREOP.
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   832
 */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   833
void ec_fsm_slave_scan_state_preop(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   834
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   835
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   836
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   837
    if (ec_fsm_slave_config_exec(fsm->fsm_slave_config))
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   838
        return;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   839
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   840
    if (!ec_fsm_slave_config_success(fsm->fsm_slave_config)) {
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   841
        fsm->state = ec_fsm_slave_scan_state_error;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   842
        return;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   843
    }
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   844
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   845
    ec_fsm_slave_scan_enter_pdos(fsm);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   846
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   847
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   848
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   849
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   850
/** Slave scan state: SYNC.
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   851
 */
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   852
void ec_fsm_slave_scan_state_sync(
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   853
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   854
        )
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   855
{
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   856
    ec_datagram_t *datagram = fsm->datagram;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   857
    ec_slave_t *slave = fsm->slave;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   858
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   859
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   860
        return;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   861
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   862
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   863
        fsm->state = ec_fsm_slave_scan_state_error;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   864
        EC_ERR("Failed to receive sync manager configuration datagram"
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   865
                " from slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   866
        ec_datagram_print_state(datagram);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   867
        return;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   868
    }
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   869
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   870
    if (datagram->working_counter != 1) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   871
        fsm->slave->error_flag = 1;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   872
        fsm->state = ec_fsm_slave_scan_state_error;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   873
        EC_ERR("Failed to read DL status from slave %u: ",
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   874
               slave->ring_position);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   875
        ec_datagram_print_wc_error(datagram);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   876
        return;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   877
    }
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   878
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   879
    slave->configured_rx_mailbox_offset = EC_READ_U16(datagram->data);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   880
    slave->configured_rx_mailbox_size = EC_READ_U16(datagram->data + 2);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   881
    slave->configured_tx_mailbox_offset = EC_READ_U16(datagram->data + 8);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   882
    slave->configured_tx_mailbox_size = EC_READ_U16(datagram->data + 10);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   883
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   884
    if (slave->master->debug_level) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   885
        EC_DBG("Mailbox configuration of slave %u:\n", slave->ring_position);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   886
        EC_DBG(" RX offset=0x%04x size=%u\n",
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   887
                slave->configured_rx_mailbox_offset,
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   888
                slave->configured_rx_mailbox_size);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   889
        EC_DBG(" TX offset=0x%04x size=%u\n",
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   890
                slave->configured_tx_mailbox_offset,
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   891
                slave->configured_tx_mailbox_size);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   892
    }
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   893
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   894
    ec_fsm_slave_scan_enter_pdos(fsm);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   895
}
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   896
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   897
/*****************************************************************************/
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   898
841
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   899
/** Enter slave scan state PDOS.
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   900
 */
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   901
void ec_fsm_slave_scan_enter_pdos(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   902
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   903
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   904
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   905
    ec_slave_t *slave = fsm->slave;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   906
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   907
    if (slave->master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   908
        EC_DBG("Scanning PDO assignment and mapping of slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   909
                slave->ring_position);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   910
    fsm->state = ec_fsm_slave_scan_state_pdos;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   911
    ec_fsm_pdo_start_reading(fsm->fsm_pdo, slave);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   912
    ec_fsm_pdo_exec(fsm->fsm_pdo); // execute immediately
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   913
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   914
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   915
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   916
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   917
/** Slave scan state: PDOS.
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   918
 */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   919
void ec_fsm_slave_scan_state_pdos(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   920
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   921
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   922
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   923
    if (ec_fsm_pdo_exec(fsm->fsm_pdo))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   924
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   925
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   926
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   927
        fsm->state = ec_fsm_slave_scan_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   928
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   929
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   930
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   931
    // reading PDO configuration finished
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   932
    fsm->state = ec_fsm_slave_scan_state_end;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   933
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   934
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   935
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   936
 * Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   937
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   938
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   939
/** State: ERROR.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   940
 */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   941
void ec_fsm_slave_scan_state_error(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   942
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   943
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   944
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   945
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   946
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   947
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   948
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   949
/** State: END.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   950
 */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   951
void ec_fsm_slave_scan_state_end(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   952
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   954
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   955
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   956
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   957
/*****************************************************************************/