etherlabmaster: master/fsm_slave_config.c@5f27403587a8 (annotated)

830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	34	/** \file
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	35	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	36	* EtherCAT slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	37	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "mailbox.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "fsm_slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	55	void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	56	void ec_fsm_slave_config_state_pdo_assign(ec_fsm_slave_config_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	57	void ec_fsm_slave_config_state_pdo_mapping(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	61
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	65	void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	71
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	73
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	/** Constructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	76	void ec_fsm_slave_config_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	77	ec_fsm_slave_config_t fsm, /< slave state machine /
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	ec_datagram_t datagram /< datagram structure to use /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	fsm->datagram = datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	// init sub state machines
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	86	ec_fsm_pdo_assign_init(&fsm->fsm_pdo_assign, &fsm->fsm_coe);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	87	ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_mapping, &fsm->fsm_coe);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	91
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	/** Destructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	94	void ec_fsm_slave_config_clear(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	95	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	96	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	// clear sub state machines
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	ec_fsm_change_clear(&fsm->fsm_change);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	ec_fsm_coe_clear(&fsm->fsm_coe);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	101	ec_fsm_pdo_assign_clear(&fsm->fsm_pdo_assign);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	102	ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_mapping);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	104
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	106
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	107	/** Start slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	108	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	109	void ec_fsm_slave_config_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	110	ec_fsm_slave_config_t fsm, /< slave state machine /
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	ec_slave_t slave /< slave to configure /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	fsm->slave = slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	fsm->state = ec_fsm_slave_config_state_start;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	117
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	119
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	121	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	122	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	123	int ec_fsm_slave_config_running(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	124	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	125	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	return fsm->state != ec_fsm_slave_config_state_end
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	&& fsm->state != ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	130
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	133	/** Executes the current state of the state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	134	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	135	* If the state machine's datagram is not sent or received yet, the execution
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	136	* of the state machine is delayed to the next cycle.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	137	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	138	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	139	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	140	int ec_fsm_slave_config_exec(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	141	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	142	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	if (fsm->datagram->state == EC_DATAGRAM_SENT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	\|\| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	// datagram was not sent or received yet.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	149
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	fsm->state(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	157	* \return true, if the state machine terminated gracefully
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	158	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	159	int ec_fsm_slave_config_success(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	160	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	161	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	return fsm->state == ec_fsm_slave_config_state_end;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	165
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	* Slave configuration state machine
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	169
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	170	/** Slave configuration state: START.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	171	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	172	void ec_fsm_slave_config_state_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	173	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	174	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	if (fsm->slave->master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	177	EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	}
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	179
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	180	// configuration will be done immediately; therefore reset the
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	181	// force flag
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	182	fsm->slave->force_config = 0;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	183
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	ec_fsm_change_exec(&fsm->fsm_change);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	fsm->state = ec_fsm_slave_config_state_init;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	190
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	191	/** Slave configuration state: INIT.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	192	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	193	void ec_fsm_slave_config_state_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	194	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	195	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	200
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	if (ec_fsm_change_exec(&fsm->fsm_change)) return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	202
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	if (!ec_fsm_change_success(&fsm->fsm_change)) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	if (!fsm->fsm_change.spontaneous_change)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	209
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	211	EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	213
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	if (!slave->base_fmmu_count) { // skip FMMU configuration
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	218
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	if (master->debug_level)
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	220	EC_DBG("Clearing FMMU configurations of slave %u...\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	222
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	// clear FMMU configurations
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	fsm->state = ec_fsm_slave_config_state_clear_fmmus;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	230
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	232
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	233	/** Slave configuration state: CLEAR FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	234	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	235	void ec_fsm_slave_config_state_clear_fmmus(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	236	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	237	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	243
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	246	EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	250
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	254	EC_ERR("Failed to clear FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	259
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	262
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	264
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	265	/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	266	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	275
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	// slave is now in INIT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	280	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	285
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	286	if (!slave->sii.mailbox_protocols) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	// no mailbox protocols supported
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	ec_fsm_slave_config_enter_preop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	294
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	296	EC_DBG("Configuring mailbox sync managers of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	299
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	300	if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	302	EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	memset(datagram->data, 0x00,
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	304	EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	for (i = 0; i < 2; i++) {
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	307	ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	308	slave->sii.syncs[i].default_length,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	309	EC_DIR_INVALID, // use default direction
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	} else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	ec_sync_t sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	314
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	" mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	319
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	EC_SYNC_PAGE_SIZE * 2);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	323
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	324	ec_sync_init(&sync, slave);
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	325	sync.physical_start_address = slave->sii.rx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	sync.enable = 1;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	328	ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	329	EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	330	datagram->data);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	331
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	332	ec_sync_init(&sync, slave);
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	333	sync.physical_start_address = slave->sii.tx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	sync.enable = 1;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	336	ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	337	EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	338	datagram->data + EC_SYNC_PAGE_SIZE);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	340
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	344
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	346
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	347	/** Slave configuration state: SYNC.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	348	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	349	void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	350	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	351	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	355
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	358
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	EC_ERR("Failed to receive sync manager configuration datagram for"
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	362	" slave %u (datagram state %u).\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	366
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	369	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	370	EC_ERR("Failed to set sync managers of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	375
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	ec_fsm_slave_config_enter_preop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	377	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	378
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	380
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	381	/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	382	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	383	void ec_fsm_slave_config_enter_preop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	384	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	385	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	387	fsm->state = ec_fsm_slave_config_state_preop;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	389	ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	391
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	393
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	394	/** Slave configuration state: PREOP.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	395	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	396	void ec_fsm_slave_config_state_preop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	397	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	398	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	402
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	if (ec_fsm_change_exec(&fsm->fsm_change)) return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	404
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	if (!ec_fsm_change_success(&fsm->fsm_change)) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	if (!fsm->fsm_change.spontaneous_change)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	409	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	411
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	// slave is now in PREOP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	413	slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	414
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	416	EC_DBG("Slave %u is now in PREOP.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	418
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	if (master->debug_level) {
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	422	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	425	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	426	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	427
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	if (!slave->config) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	EC_DBG("Slave %u is not configured.\n", slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	433
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	434	ec_fsm_slave_config_enter_sdo_conf(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	435	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	436
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	437	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	438
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	439	/** Check for Sdo configurations to be applied.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	440	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	441	void ec_fsm_slave_config_enter_sdo_conf(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	442	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	443	)
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	444	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	445	ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	446
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	447	// No CoE configuration to be applied?
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	448	if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	449	ec_fsm_slave_config_enter_pdo_sync(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	450	return;
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	// start Sdo configuration
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	454	fsm->state = ec_fsm_slave_config_state_sdo_conf;
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	455	fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	456	ec_sdo_request_t, list);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	457	ecrt_sdo_request_write(fsm->request);
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	458	ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	459	ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	460	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	461
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
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	464	/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	465	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	466	void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	467	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	468	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	469	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	470	if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	471
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	472	if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	473	EC_ERR("Sdo configuration failed for slave %u.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	474	fsm->slave->ring_position);
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_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	477	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	478	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	479
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	480	// Another Sdo to configure?
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	481	if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	482	fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	483	list);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	484	ecrt_sdo_request_write(fsm->request);
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	485	ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	486	ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	487	return;
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
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	490	// All Sdos are now configured.
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	491	ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	492	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	493
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	494	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	495
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	496	/** Check for Pdo sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	497	*/
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	498	void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	499	ec_fsm_slave_config_t fsm /< slave state machine /
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	500	)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	501	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	502	ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	503	ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	504	unsigned int i, offset, num_pdo_syncs;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	505	uint8_t sync_index;
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	506	const ec_sync_t *sync;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	507	const ec_sync_config_t *sync_config;
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	508	uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	509
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	510	if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	511	offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	512	} else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	513	offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	514	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	515
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	516	if (slave->sii.sync_count <= offset) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	517	// no Pdo sync managers to configure
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	518	ec_fsm_slave_config_enter_safeop(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	519	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	520	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	521
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	522	num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	523
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	524	// configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	525	ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	526	0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	527	EC_SYNC_PAGE_SIZE * num_pdo_syncs);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	528	memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	529
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	530	for (i = 0; i < num_pdo_syncs; i++) {
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	531	sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	532	sync = &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	533	sync_config = &slave->config->sync_configs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	534	size = ec_pdo_list_total_size(&sync_config->pdos);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	535	ec_sync_page(sync, sync_index, size, sync_config->dir,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	536	datagram->data + EC_SYNC_PAGE_SIZE * i);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	537	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	538
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	539	fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	540	fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	541	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	542
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	543	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	544
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	545	/** Configure Pdo sync managers.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	546	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	547	void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	548	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	549	)
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	550	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	551	ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	552	ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	553
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	554	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	555	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	556
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	557	if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	558	fsm->state = ec_fsm_slave_config_state_error;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	559	EC_ERR("Failed to receive process data sync manager configuration"
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	560	" datagram for slave %u (datagram state %u).\n",
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	561	slave->ring_position, datagram->state);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	562	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	563	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	564
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	565	if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	566	slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	567	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	568	EC_ERR("Failed to set process data sync managers of slave %u: ",
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	569	slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	570	ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	571	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	572	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	573
889 661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	574	// Start configuring Pdo mapping
891 fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to Florian Pose <fp@igh-essen.com> parents: 889 diff changeset	575	ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_mapping, fsm->slave);
889 661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	576	fsm->state = ec_fsm_slave_config_state_pdo_mapping;
891 fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to Florian Pose <fp@igh-essen.com> parents: 889 diff changeset	577	fsm->state(fsm); // execute immediately
889 661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	578	}
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	579
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	580	/*****************************************************************************/
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	581
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	582	/** Slave configuration state: PDO_MAPPING.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	583	*/
889 661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	584	void ec_fsm_slave_config_state_pdo_mapping(
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	586	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	587	{
889 661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	588	if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping)) return;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	589
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	590	if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_mapping)) {
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	591	EC_ERR("Configuration of Pdo mapping failed for slave %u.\n",
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	592	fsm->slave->ring_position);
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	593	fsm->slave->error_flag = 1;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	594	fsm->state = ec_fsm_slave_config_state_error;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	595	return;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	596	}
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 888 diff changeset	597
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	598	// start applying alternate Pdo assignments
891 fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to Florian Pose <fp@igh-essen.com> parents: 889 diff changeset	599	ec_fsm_pdo_assign_start(&fsm->fsm_pdo_assign, fsm->slave);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	600	fsm->state = ec_fsm_slave_config_state_pdo_assign;
891 fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to Florian Pose <fp@igh-essen.com> parents: 889 diff changeset	601	fsm->state(fsm); // execute immediately
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	602	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	603
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	604	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	605
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	606	/** Slave configuration state: PDO_ASSIGN.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	607	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	608	void ec_fsm_slave_config_state_pdo_assign(
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	609	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	610	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	611	{
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	612	if (ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign)) return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	613
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	614	if (!ec_fsm_pdo_assign_success(&fsm->fsm_pdo_assign)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	615	EC_ERR("Pdo assignment failed for slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	616	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	617	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	619	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	620	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	621
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	623	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	624
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	625	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	626
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	627	/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	628	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	629	void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	630	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	631	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	632	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	633	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	634	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	635	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	638
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	639	if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	640	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	641	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	642	EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	643	slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	645	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	646	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	647
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	648	if (!slave->base_fmmu_count) { // skip FMMU configuration
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	649	ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	650	return;
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
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	653	// configure FMMUs
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	654	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	655	0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	656	memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	657	for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	658	fmmu = &slave->config->fmmu_configs[i];
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	659	if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	660	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	661	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	662	EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	663	" %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	664	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	665	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	666	ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	667	datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	668	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	669
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	670	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	671	fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	672	}
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
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	676	/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	677	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	678	void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	679	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	680	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	681	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	682	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	684
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	685	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	686	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	687
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	688	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	689	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	690	EC_ERR("Failed to receive FMMUs datagram for slave %u"
a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	691	" (datagram state %u).\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	692	slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	693	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	694	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	695
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	696	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	697	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	698	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	699	EC_ERR("Failed to set FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	700	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	701	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	702	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	703	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	704
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	705	ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	706	}
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
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	710	/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	711	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	712	void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	713	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	714	)
830 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	fsm->state = ec_fsm_slave_config_state_safeop;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	717	ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	718	ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	719	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	720
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	721	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	722
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	723	/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	724	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	725	void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	726	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	727	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	728	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	729	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	730	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	731
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	732	if (ec_fsm_change_exec(&fsm->fsm_change)) return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	733
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	734	if (!ec_fsm_change_success(&fsm->fsm_change)) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	735	if (!fsm->fsm_change.spontaneous_change)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	736	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	737	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	738	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	740
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	741	// slave is now in SAFEOP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	742
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	743	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	744	EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	745	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	746
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	747	if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	748	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	749	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	750	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	751	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	752	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	753	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	754	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	755
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	// set state to OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	757	fsm->state = ec_fsm_slave_config_state_op;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	758	ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	759	ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	760	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	761
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	762	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	763
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	764	/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	765	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	766	void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	767	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	768	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	769	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	770	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	771	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	772
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	773	if (ec_fsm_change_exec(&fsm->fsm_change)) return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	774
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	775	if (!ec_fsm_change_success(&fsm->fsm_change)) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	776	if (!fsm->fsm_change.spontaneous_change)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	777	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	778	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	779	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	781
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	782	// slave is now in OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	783
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	784	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	785	EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	786	EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	}
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	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	790	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	791
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	792	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	793	* Common state functions
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	794	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	795
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	796	/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	797	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	798	void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	799	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	800	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	801	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	802	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	803
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	804	/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	805
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	806	/** State: END.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	807	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	808	void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	809	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	810	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	811	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	812	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	813
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	814	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 27 Jun 2008 07:22:02 +0000
changeset 1064	5f27403587a8
parent 1055	2be8918682fa
child 1173	2ec9651a6c89
permissions	-rw-r--r--