master/fsm.c
author Florian Pose <fp@igh-essen.com>
Tue, 01 Aug 2006 15:19:11 +0000
changeset 321 64e20e6e9d0b
parent 312 3b827a82060f
child 325 7833cf70c4f2
permissions -rw-r--r--
Renamed master parameter ec_eoe_devices to ec_eoeif_count.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT finite state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "fsm.h"
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#include "master.h"
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/*****************************************************************************/
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void ec_fsm_master_start(ec_fsm_t *);
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void ec_fsm_master_broadcast(ec_fsm_t *);
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void ec_fsm_master_read_states(ec_fsm_t *);
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void ec_fsm_master_validate_vendor(ec_fsm_t *);
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void ec_fsm_master_validate_product(ec_fsm_t *);
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void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
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void ec_fsm_master_configure_slave(ec_fsm_t *);
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void ec_fsm_master_scan_slaves(ec_fsm_t *);
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void ec_fsm_master_write_eeprom(ec_fsm_t *);
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void ec_fsm_slavescan_start(ec_fsm_t *);
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void ec_fsm_slavescan_address(ec_fsm_t *);
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void ec_fsm_slavescan_state(ec_fsm_t *);
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void ec_fsm_slavescan_base(ec_fsm_t *);
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void ec_fsm_slavescan_datalink(ec_fsm_t *);
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void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
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void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
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void ec_fsm_slavescan_end(ec_fsm_t *);
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void ec_fsm_slaveconf_init(ec_fsm_t *);
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void ec_fsm_slaveconf_sync(ec_fsm_t *);
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void ec_fsm_slaveconf_preop(ec_fsm_t *);
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void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
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void ec_fsm_slaveconf_saveop(ec_fsm_t *);
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void ec_fsm_slaveconf_op(ec_fsm_t *);
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void ec_fsm_slaveconf_end(ec_fsm_t *);
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void ec_fsm_sii_start_reading(ec_fsm_t *);
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void ec_fsm_sii_read_check(ec_fsm_t *);
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void ec_fsm_sii_read_fetch(ec_fsm_t *);
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void ec_fsm_sii_start_writing(ec_fsm_t *);
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void ec_fsm_sii_write_check(ec_fsm_t *);
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void ec_fsm_sii_write_check2(ec_fsm_t *);
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void ec_fsm_sii_end(ec_fsm_t *);
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void ec_fsm_sii_error(ec_fsm_t *);
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void ec_fsm_change_start(ec_fsm_t *);
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void ec_fsm_change_check(ec_fsm_t *);
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void ec_fsm_change_status(ec_fsm_t *);
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void ec_fsm_change_code(ec_fsm_t *);
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void ec_fsm_change_ack(ec_fsm_t *);
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void ec_fsm_change_check_ack(ec_fsm_t *);
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void ec_fsm_change_end(ec_fsm_t *);
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void ec_fsm_change_error(ec_fsm_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
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                ec_master_t *master /**< EtherCAT master */
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    )
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{
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    fsm->master = master;
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    fsm->master_state = ec_fsm_master_start;
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    fsm->master_slaves_responding = 0;
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    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
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    fsm->master_validation = 0;
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    ec_datagram_init(&fsm->datagram);
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    if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
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        EC_ERR("Failed to allocate FSM datagram.\n");
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
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{
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    ec_datagram_clear(&fsm->datagram);
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}
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/*****************************************************************************/
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/**
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   Resets the state machine.
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*/
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void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
238
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{
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    fsm->master_state = ec_fsm_master_start;
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    fsm->master_slaves_responding = 0;
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    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
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}
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/*****************************************************************************/
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260
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/**
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   Executes the current state of the state machine.
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*/
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void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
238
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{
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    fsm->master_state(fsm);
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}
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/******************************************************************************
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 *  master state machine
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 *****************************************************************************/
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/**
260
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   Master state: START.
238
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   Starts with getting slave count and slave states.
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*/
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void ec_fsm_master_start(ec_fsm_t *fsm)
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{
293
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    ec_datagram_brd(&fsm->datagram, 0x0130, 2);
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    ec_master_queue_datagram(fsm->master, &fsm->datagram);
260
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    fsm->master_state = ec_fsm_master_broadcast;
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   166
}
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/*****************************************************************************/
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/**
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   171
   Master state: BROADCAST.
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   Processes the broadcast read slave count and slaves states.
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*/
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void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
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{
293
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    ec_datagram_t *datagram = &fsm->datagram;
260
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    unsigned int topology_change, states_change, i;
238
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    ec_slave_t *slave;
260
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    ec_master_t *master = fsm->master;
238
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293
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    if (datagram->state != EC_CMD_RECEIVED) {
260
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   183
        if (!master->device->link_state) {
254
986afccca9ea Link down treated as topology change in state machine.
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   184
            fsm->master_slaves_responding = 0;
260
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            list_for_each_entry(slave, &master->slaves, list) {
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   186
                slave->online = 0;
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   187
            }
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   188
        }
238
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        fsm->master_state = ec_fsm_master_start;
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        fsm->master_state(fsm); // execute immediately
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        return;
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   192
    }
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   193
293
14aeb79aa992 Renamed command structure to datagram.
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    topology_change = (datagram->working_counter !=
260
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   195
                       fsm->master_slaves_responding);
293
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    states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
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   197
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   198
    fsm->master_slave_states = EC_READ_U8(datagram->data);
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   199
    fsm->master_slaves_responding = datagram->working_counter;
260
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   200
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   201
    if (topology_change) {
262
636d43737371 Corrected output at slave count change.
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   202
        EC_INFO("%i slave%s responding.\n",
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   203
                fsm->master_slaves_responding,
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                fsm->master_slaves_responding == 1 ? "" : "s");
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   205
636d43737371 Corrected output at slave count change.
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   206
        if (master->mode == EC_MASTER_MODE_RUNNING) {
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   207
            if (fsm->master_slaves_responding == master->slave_count) {
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   208
                fsm->master_validation = 1; // start validation later
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   209
            }
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   210
            else {
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   211
                EC_WARN("Invalid slave count. Bus in tainted state.\n");
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   212
            }
260
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   213
        }
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   214
    }
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   215
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   216
    if (states_change) {
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   217
        EC_INFO("Slave states: ");
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   218
        ec_print_states(fsm->master_slave_states);
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   219
        printk(".\n");
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   220
    }
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diff changeset
   221
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
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   222
    // topology change in idle mode: clear all slaves and scan the bus
45886de3db87 Renamed FREERUN mode to IDLE mode.
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diff changeset
   223
    if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   224
        EC_INFO("Scanning bus.\n");
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diff changeset
   225
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   226
        ec_master_eoe_stop(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   227
        ec_master_clear_slaves(master);
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diff changeset
   228
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   229
        if (!fsm->master_slaves_responding) {
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   230
            // no slaves present -> finish state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   231
            fsm->master_state = ec_fsm_master_start;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   232
            fsm->master_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   233
            return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   234
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   235
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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   236
        // init slaves
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   237
        for (i = 0; i < fsm->master_slaves_responding; i++) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   238
            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   239
                                                 GFP_ATOMIC))) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   240
                EC_ERR("Failed to allocate slave %i!\n", i);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   241
                fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   242
                fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   243
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   244
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   245
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   246
            if (ec_slave_init(slave, master, i, i + 1)) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   247
                fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   248
                fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   249
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   250
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   251
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   252
            if (kobject_add(&slave->kobj)) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   253
                EC_ERR("Failed to add kobject.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   254
                kobject_put(&slave->kobj); // free
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
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diff changeset
   255
                fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   256
                fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   257
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   258
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
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diff changeset
   259
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   260
            list_add_tail(&slave->list, &master->slaves);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   261
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   262
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   263
        // begin scanning of slaves
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   264
        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   265
        fsm->slave_state = ec_fsm_slavescan_start;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   266
        fsm->master_state = ec_fsm_master_scan_slaves;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   267
        fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   268
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   269
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   270
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   271
    // fetch state from each slave
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    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
293
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    ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
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    ec_master_queue_datagram(master, &fsm->datagram);
304
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    fsm->master_state = ec_fsm_master_read_states;
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}
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/*****************************************************************************/
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/**
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   Master action: PROC_STATES.
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   Processes the slave states.
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*/
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void ec_fsm_master_action_process_states(ec_fsm_t *fsm
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                                         /**< finite state machine */
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                                         )
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{
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    ec_master_t *master = fsm->master;
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    ec_slave_t *slave;
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    // check if any slaves are not in the state, they're supposed to be
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    list_for_each_entry(slave, &master->slaves, list) {
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   294
        if (slave->error_flag ||
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            !slave->online ||
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            slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
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   297
            slave->current_state == slave->requested_state) continue;
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        EC_INFO("Changing state of slave %i from ", slave->ring_position);
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   300
        ec_print_states(slave->current_state);
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   301
        printk(" to ");
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   302
        ec_print_states(slave->requested_state);
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   303
        printk(".\n");
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        fsm->slave = slave;
309
42e69cf31495 Better slaveconf sub state machine.
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        fsm->slave_state = ec_fsm_slaveconf_init;
304
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        fsm->change_new = EC_SLAVE_STATE_INIT;
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   308
        fsm->change_state = ec_fsm_change_start;
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        fsm->master_state = ec_fsm_master_configure_slave;
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        fsm->master_state(fsm); // execute immediately
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        return;
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    }
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   313
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
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    if (master->mode == EC_MASTER_MODE_IDLE) {
304
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        // nothing to configure. check for pending EEPROM write operations.
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        list_for_each_entry(slave, &master->slaves, list) {
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   317
            if (!slave->new_eeprom_data) continue;
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   318
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   319
            if (!slave->online || slave->error_flag) {
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   320
                kfree(slave->new_eeprom_data);
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   321
                slave->new_eeprom_data = NULL;
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                EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
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   323
                       slave->ring_position);
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   324
                continue;
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   325
            }
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   326
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            // found pending EEPROM write operation. execute it!
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            EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
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   329
            fsm->sii_offset = 0x0000;
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   330
            memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
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   331
            fsm->sii_mode = 1;
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   332
            fsm->sii_state = ec_fsm_sii_start_writing;
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   333
            fsm->slave = slave;
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   334
            fsm->master_state = ec_fsm_master_write_eeprom;
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   335
            fsm->master_state(fsm); // execute immediately
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   336
            return;
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   337
        }
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   338
    }
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   339
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   340
    // nothing to do. restart master state machine.
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   341
    fsm->master_state = ec_fsm_master_start;
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   342
    fsm->master_state(fsm); // execute immediately
260
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   343
}
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   344
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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   345
/*****************************************************************************/
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   346
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   347
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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   348
   Master action: Get state of next slave.
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   349
*/
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   350
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   351
void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
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   352
                                           /**< finite state machine */)
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   353
{
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   354
    ec_master_t *master = fsm->master;
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   355
    ec_slave_t *slave = fsm->slave;
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   356
304
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   357
    // is there another slave to query?
292
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   358
    if (slave->list.next != &master->slaves) {
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diff changeset
   359
        // process next slave
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   360
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
293
14aeb79aa992 Renamed command structure to datagram.
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   361
        ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
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diff changeset
   362
                         0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   363
        ec_master_queue_datagram(master, &fsm->datagram);
304
558a6669da90 Better master state machines.
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diff changeset
   364
        fsm->master_state = ec_fsm_master_read_states;
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diff changeset
   365
        return;
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diff changeset
   366
    }
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diff changeset
   367
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   368
    // all slave states read
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diff changeset
   369
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diff changeset
   370
    // check, if a bus validation has to be done
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   371
    if (fsm->master_validation) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   372
        fsm->master_validation = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   373
        list_for_each_entry(slave, &master->slaves, list) {
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diff changeset
   374
            if (slave->online) continue;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   375
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   376
            // At least one slave is offline. validate!
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   377
            EC_INFO("Validating bus.\n");
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   378
            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   379
            fsm->master_state = ec_fsm_master_validate_vendor;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   380
            fsm->sii_offset = 0x0008; // vendor ID
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   381
            fsm->sii_mode = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   382
            fsm->sii_state = ec_fsm_sii_start_reading;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   383
            fsm->sii_state(fsm); // execute immediately
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   384
            return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   385
        }
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
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diff changeset
   386
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
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diff changeset
   387
304
558a6669da90 Better master state machines.
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diff changeset
   388
    ec_fsm_master_action_process_states(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   389
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   390
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   391
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   392
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   393
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   394
   Master state: STATES.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   395
   Fetches the AL- and online state of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   396
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   397
304
558a6669da90 Better master state machines.
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diff changeset
   398
void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   399
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   400
    ec_slave_t *slave = fsm->slave;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
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diff changeset
   401
    ec_datagram_t *datagram = &fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   402
    uint8_t new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   403
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   404
    if (datagram->state != EC_CMD_RECEIVED) {
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
        fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   410
    // did the slave not respond to its station address?
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   411
    if (datagram->working_counter != 1) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   412
        if (slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   413
            slave->online = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   414
            EC_INFO("Slave %i: offline.\n", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   415
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   416
        ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   417
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   418
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   419
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   420
    // slave responded
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   421
    new_state = EC_READ_U8(datagram->data);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   422
    if (!slave->online) { // slave was offline before
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   423
        slave->online = 1;
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   424
        slave->error_flag = 0; // clear error flag
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   425
        slave->current_state = new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   426
        EC_INFO("Slave %i: online (", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   427
        ec_print_states(new_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   428
        printk(").\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   429
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   430
    else if (new_state != slave->current_state) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   431
        EC_INFO("Slave %i: ", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   432
        ec_print_states(slave->current_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   433
        printk(" -> ");
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   434
        ec_print_states(new_state);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   435
        printk(".\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   436
        slave->current_state = new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   437
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   438
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   439
    ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   440
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   441
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   442
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   443
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   444
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   445
   Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   446
   Validates the vendor ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   447
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   448
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   449
void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   450
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   451
    ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   452
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   453
    fsm->sii_state(fsm); // execute SII state machine
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   454
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   455
    if (fsm->sii_state == ec_fsm_sii_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   456
        fsm->slave->error_flag = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   457
        EC_ERR("Failed to validate vendor ID of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   458
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
        fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   464
    if (fsm->sii_state != ec_fsm_sii_end) return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   465
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   466
    if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   467
        EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   473
    // vendor ID is ok. check product code.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   474
    fsm->master_state = ec_fsm_master_validate_product;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   475
    fsm->sii_offset = 0x000A; // product code
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   476
    fsm->sii_mode = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   477
    fsm->sii_state = ec_fsm_sii_start_reading;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   478
    fsm->sii_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   479
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   480
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   481
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   482
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   483
/**
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   484
   Master action: ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   485
   Looks for slave, that have lost their configuration and writes
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   486
   their station address, so that they can be reconfigured later.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   487
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   488
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   489
void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   490
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   491
    ec_datagram_t *datagram = &fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   492
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   493
    while (fsm->slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   494
        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   495
            fsm->master_state = ec_fsm_master_start;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   496
            fsm->master_state(fsm); // execute immediately
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
            return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   499
        // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   500
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   501
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   502
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   503
    EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   504
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   505
    // write station address
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   506
    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   507
    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   508
    ec_master_queue_datagram(fsm->master, datagram);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   509
    fsm->master_state = ec_fsm_master_rewrite_addresses;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   510
}
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   511
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   512
/*****************************************************************************/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   513
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   514
/**
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   515
   Master state: VALIDATE_PRODUCT.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   516
   Validates the product ID of a slave.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   517
*/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   518
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   519
void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   520
{
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   521
    ec_slave_t *slave = fsm->slave;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   522
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   523
    fsm->sii_state(fsm); // execute SII state machine
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   524
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   525
    if (fsm->sii_state == ec_fsm_sii_error) {
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   526
        fsm->slave->error_flag = 1;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   527
        EC_ERR("Failed to validate product code of slave %i.\n",
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   528
               slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   529
        fsm->master_state = ec_fsm_master_start;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   530
        fsm->master_state(fsm); // execute immediately
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   531
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   532
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   533
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   534
    if (fsm->sii_state != ec_fsm_sii_end) return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   535
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   536
    if (EC_READ_U32(fsm->sii_value) != slave->sii_product_code) {
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   537
        EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   538
        EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   539
               EC_READ_U32(fsm->sii_value));
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   540
        fsm->master_state = ec_fsm_master_start;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   541
        fsm->master_state(fsm); // execute immediately
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   542
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   543
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   544
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   545
    // have all states been validated?
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   546
    if (slave->list.next == &fsm->master->slaves) {
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   547
        fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   548
        // start writing addresses to offline slaves
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   549
        ec_fsm_master_action_addresses(fsm);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   550
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   551
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   552
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   553
    // validate next slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   554
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   555
    fsm->master_state = ec_fsm_master_validate_vendor;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   556
    fsm->sii_offset = 0x0008; // vendor ID
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   557
    fsm->sii_mode = 0;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   558
    fsm->sii_state = ec_fsm_sii_start_reading;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   559
    fsm->sii_state(fsm); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   560
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   561
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   562
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   563
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   564
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   565
   Master state: ADDRESS.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   566
   Checks, if the new station address has been written to the slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   567
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   568
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   569
void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   570
                                     /**< finite state machine */
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   571
                                     )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   572
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   573
    ec_slave_t *slave = fsm->slave;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   574
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   575
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   576
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   577
        EC_ERR("Failed to write station address on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   578
               slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   579
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   580
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   581
    if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   582
        fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   583
        fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   584
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   585
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   586
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   587
    // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   588
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   589
    // Write new station address to slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   590
    ec_fsm_master_action_addresses(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   593
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   594
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   595
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   596
   Master state: SCAN.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   597
   Executes the sub-statemachine for the scanning of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   598
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   599
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   600
void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   601
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
    ec_master_t *master = fsm->master;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   603
    ec_slave_t *slave = fsm->slave;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   604
    uint16_t coupler_index, coupler_subindex;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   605
    uint16_t reverse_coupler_index, current_coupler_index;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   606
    ec_slave_ident_t *ident;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   607
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
    fsm->slave_state(fsm); // execute slave state machine
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   610
    if (fsm->slave_state != ec_fsm_slavescan_end) return;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
    // have all slaves been fetched?
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   613
    if (slave->list.next == &master->slaves) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   614
        EC_INFO("Bus scanning completed.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   615
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   616
        // identify all slaves and calculate coupler addressing
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   617
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   618
        coupler_index = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   619
        reverse_coupler_index = 0xFFFF;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   620
        current_coupler_index = 0x3FFF;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   621
        coupler_subindex = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   622
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   623
        list_for_each_entry(slave, &master->slaves, list)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   624
        {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   625
            // search for identification in "database"
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   626
            ident = slave_idents;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   627
            while (ident->type) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   628
                if (ident->vendor_id == slave->sii_vendor_id
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   629
                    && ident->product_code == slave->sii_product_code) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   630
                    slave->type = ident->type;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   631
                    break;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   632
                }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   633
                ident++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   634
            }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   635
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   636
            if (!slave->type) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   637
                EC_WARN("Unknown slave device (vendor 0x%08X,"
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   638
                        " code 0x%08X) at position %i.\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   639
                        slave->sii_vendor_id, slave->sii_product_code,
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   640
                        slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   641
            }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   642
            else {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   643
                // if the slave is a bus coupler, change adressing base
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   644
                if (slave->type->special == EC_TYPE_BUS_COUPLER) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   645
                    if (slave->sii_alias)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   646
                        current_coupler_index = reverse_coupler_index--;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   647
                    else
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   648
                        current_coupler_index = coupler_index++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   649
                    coupler_subindex = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   650
                }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   651
            }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   652
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   653
            // determine initial state.
290
57a4201cbb0f Introducing infrastructural slaves that do not contain process data.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
   654
            if ((slave->type &&
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   655
                 (slave->type->special == EC_TYPE_BUS_COUPLER ||
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   656
                  slave->type->special == EC_TYPE_INFRA))) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   657
                slave->requested_state = EC_SLAVE_STATE_OP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   658
            }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   659
            else {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   660
                if (master->mode == EC_MASTER_MODE_RUNNING)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   661
                    slave->requested_state = EC_SLAVE_STATE_PREOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   662
                else
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   663
                    slave->requested_state = EC_SLAVE_STATE_INIT;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   664
            }
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   665
            slave->error_flag = 0;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   666
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   667
            // calculate coupler-based slave address
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   668
            slave->coupler_index = current_coupler_index;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   669
            slave->coupler_subindex = coupler_subindex;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   670
            coupler_subindex++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   671
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   672
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 304
diff changeset
   673
        if (master->mode == EC_MASTER_MODE_IDLE) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   674
            // start EoE processing
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   675
            ec_master_eoe_start(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   676
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   677
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   678
        fsm->master_state = ec_fsm_master_start;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
        fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   683
    // process next slave
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   685
    fsm->slave_state = ec_fsm_slavescan_start;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
    fsm->slave_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   692
   Master state: CONF.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   693
   Starts configuring a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   694
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   695
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   696
void ec_fsm_master_configure_slave(ec_fsm_t *fsm
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   697
                                   /**< finite state machine */
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   698
                                   )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   699
{
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   700
    fsm->slave_state(fsm); // execute slave's state machine
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   701
    if (fsm->slave_state != ec_fsm_slaveconf_end) return;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   702
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   703
    ec_fsm_master_action_process_states(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   706
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   707
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   708
/**
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   709
   Master state: EEPROM.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   710
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   711
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   712
void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   713
{
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   714
    ec_slave_t *slave = fsm->slave;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   715
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   716
    fsm->sii_state(fsm); // execute SII state machine
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   717
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   718
    if (fsm->sii_state == ec_fsm_sii_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   719
        fsm->slave->error_flag = 1;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   720
        EC_ERR("Failed to write EEPROM contents to slave %i.\n",
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   721
               slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   722
        kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   723
        slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   724
        fsm->master_state = ec_fsm_master_start;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   725
        fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   726
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   727
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   728
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   729
    if (fsm->sii_state != ec_fsm_sii_end) return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   730
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   731
    fsm->sii_offset++;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   732
    if (fsm->sii_offset < slave->new_eeprom_size) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   733
        memcpy(fsm->sii_value, slave->new_eeprom_data + fsm->sii_offset, 2);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   734
        fsm->sii_state = ec_fsm_sii_start_writing;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   735
        fsm->sii_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   736
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   737
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   738
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   739
    // finished writing EEPROM
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   740
    EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   741
    kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   742
    slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   743
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   744
    // restart master state machine.
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   745
    fsm->master_state = ec_fsm_master_start; // TODO: Evaluate new contents!
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   746
    fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   747
    return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   748
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   749
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
/******************************************************************************
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   751
 *  slave scan sub state machine
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
 *****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   755
   Slave state: START_READING.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
   First state of the slave state machine. Writes the station address to the
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
   slave, according to its ring position.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   760
void ec_fsm_slavescan_start(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   762
    ec_datagram_t *datagram = &fsm->datagram;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   764
    // write station address
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   765
    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   766
    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   767
    ec_master_queue_datagram(fsm->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   768
    fsm->slave_state = ec_fsm_slavescan_address;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   769
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   770
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   771
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   772
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   773
/**
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   774
   Slave state: ADDRESS.
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   775
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   776
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   777
void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   779
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   780
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   781
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   782
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   783
        fsm->slave_state = ec_fsm_slavescan_end;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   784
        EC_ERR("Failed to write station address of slave %i.\n",
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
               fsm->slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   786
        return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   787
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   788
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   789
    // Read AL state
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   790
    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   791
    ec_master_queue_datagram(fsm->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   792
    fsm->slave_state = ec_fsm_slavescan_state;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   793
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   794
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   795
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   796
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   797
/**
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   798
   Slave state: STATE.
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   799
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   800
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   801
void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
255
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   802
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   803
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   804
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   805
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   806
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   807
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   808
        fsm->slave_state = ec_fsm_slavescan_end;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   809
        EC_ERR("Failed to read AL state of slave %i.\n",
255
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   810
               fsm->slave->ring_position);
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   811
        return;
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   812
    }
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   813
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   814
    slave->current_state = EC_READ_U8(datagram->data);
255
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   815
    if (slave->current_state & EC_ACK) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   816
        EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
255
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   817
                slave->ring_position, slave->current_state);
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   818
        slave->current_state &= 0x0F;
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   819
    }
6b916cce7f27 Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents: 254
diff changeset
   820
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   821
    // read base data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   822
    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   823
    ec_master_queue_datagram(fsm->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   824
    fsm->slave_state = ec_fsm_slavescan_base;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   825
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   826
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   827
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   828
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   829
/**
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   830
   Slave state: BASE.
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   831
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   832
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   833
void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   834
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   835
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   836
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   837
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   838
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   839
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   840
        fsm->slave_state = ec_fsm_slavescan_end;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   841
        EC_ERR("Failed to read base data of slave %i.\n",
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   842
               slave->ring_position);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   843
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   844
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   845
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   846
    slave->base_type       = EC_READ_U8 (datagram->data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   847
    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   848
    slave->base_build      = EC_READ_U16(datagram->data + 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   849
    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   850
    slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   851
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   852
    if (slave->base_fmmu_count > EC_MAX_FMMUS)
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   853
        slave->base_fmmu_count = EC_MAX_FMMUS;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   854
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   855
    // read data link status
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   856
    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   857
    ec_master_queue_datagram(slave->master, datagram);
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   858
    fsm->slave_state = ec_fsm_slavescan_datalink;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   859
}
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   860
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   861
/*****************************************************************************/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   862
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   863
/**
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   864
   Slave state: DATALINK.
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   865
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   866
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   867
void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   868
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   869
    ec_datagram_t *datagram = &fsm->datagram;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   870
    ec_slave_t *slave = fsm->slave;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   871
    uint16_t dl_status;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   872
    unsigned int i;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   873
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   874
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   875
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   876
        fsm->slave_state = ec_fsm_slavescan_end;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   877
        EC_ERR("Failed to read DL status of slave %i.\n",
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   878
               slave->ring_position);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   879
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   880
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   881
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   882
    dl_status = EC_READ_U16(datagram->data);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   883
    for (i = 0; i < 4; i++) {
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   885
        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   886
        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   887
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   888
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   889
    // Start fetching EEPROM size
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   890
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   891
    fsm->sii_offset = 0x0040; // first category header
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   892
    fsm->sii_mode = 1;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   893
    fsm->sii_state = ec_fsm_sii_start_reading;
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   894
    fsm->slave_state = ec_fsm_slavescan_eeprom_size;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   895
    fsm->slave_state(fsm); // execute state immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   896
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   897
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   898
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   899
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   900
/**
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   901
   Slave state: EEPROM_SIZE.
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   902
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   903
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   904
void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   905
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   906
    ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   907
    uint16_t cat_type, cat_size;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   908
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   909
    // execute SII state machine
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   910
    fsm->sii_state(fsm);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   911
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   912
    if (fsm->sii_state == ec_fsm_sii_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   913
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   914
        fsm->slave_state = ec_fsm_slavescan_end;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   915
        EC_ERR("Failed to read EEPROM size of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   916
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   917
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   918
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   919
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   920
    if (fsm->sii_state != ec_fsm_sii_end) return;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   921
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   922
    cat_type = EC_READ_U16(fsm->sii_value);
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   923
    cat_size = EC_READ_U16(fsm->sii_value + 2);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   924
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   925
    if (cat_type != 0xFFFF) { // not the last category
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   926
        fsm->sii_offset += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   927
        fsm->sii_state = ec_fsm_sii_start_reading;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   928
        fsm->sii_state(fsm); // execute state immediately
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   929
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   930
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   931
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   932
    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   933
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   934
    if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   935
        EC_INFO("Freeing old EEPROM data on slave %i...\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   936
                slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   937
        kfree(slave->eeprom_data);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   938
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   939
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   940
    if (!(slave->eeprom_data =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   941
          (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   942
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   943
        fsm->slave_state = ec_fsm_slavescan_end;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   944
        EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   945
               slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   946
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   947
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   948
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   949
    // Start fetching EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   950
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   951
    fsm->sii_offset = 0x0000;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   952
    fsm->sii_mode = 1;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
    fsm->sii_state = ec_fsm_sii_start_reading;
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   954
    fsm->slave_state = ec_fsm_slavescan_eeprom_data;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   955
    fsm->slave_state(fsm); // execute state immediately
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   956
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   957
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   958
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   959
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   960
/**
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   961
   Slave state: EEPROM_DATA.
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   962
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   963
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   964
void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   965
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   966
    ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   967
    uint16_t *cat_word, cat_type, cat_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   968
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   969
    // execute SII state machine
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   970
    fsm->sii_state(fsm);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   971
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   972
    if (fsm->sii_state == ec_fsm_sii_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   973
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   974
        fsm->slave_state = ec_fsm_slavescan_end;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   975
        EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   976
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   977
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   978
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   979
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   980
    if (fsm->sii_state != ec_fsm_sii_end) return;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   981
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   982
    // 2 words fetched
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   983
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   984
    if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   985
        memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 4);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   986
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   987
    else { // copy the last word
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   988
        memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 2);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   989
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   990
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   991
    if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   992
        // fetch the next 2 words
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   993
        fsm->sii_offset += 2;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   994
        fsm->sii_state = ec_fsm_sii_start_reading;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   995
        fsm->sii_state(fsm); // execute state immediately
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   996
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   997
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   998
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   999
    // Evaluate EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1000
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1001
    slave->sii_alias =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1002
        EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1003
    slave->sii_vendor_id =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1004
        EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1005
    slave->sii_product_code =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1006
        EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1007
    slave->sii_revision_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1008
        EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1009
    slave->sii_serial_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1010
        EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1011
    slave->sii_rx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1012
        EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1013
    slave->sii_rx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1014
        EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1015
    slave->sii_tx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1016
        EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1017
    slave->sii_tx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1018
        EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1019
    slave->sii_mailbox_protocols =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1020
        EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1021
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1022
    // evaluate category data
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1023
    cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1024
    while (EC_READ_U16(cat_word) != 0xFFFF) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1025
        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1026
        cat_size = EC_READ_U16(cat_word + 1);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1027
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1028
        switch (cat_type) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1029
            case 0x000A:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1030
                if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1031
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1032
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1033
            case 0x001E:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1034
                if (ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2)))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1035
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1036
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1037
            case 0x0028:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1038
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1039
            case 0x0029:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1040
                if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1041
                                        cat_size))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1042
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1043
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1044
            case 0x0032:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1045
                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1046
                                       cat_size, EC_TX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1047
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1048
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1049
            case 0x0033:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1050
                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1051
                                       cat_size, EC_RX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1052
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1053
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1054
            default:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1055
                EC_WARN("Unknown category type 0x%04X in slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1056
                        cat_type, slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1057
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1058
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1059
        cat_word += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1060
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
  1061
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1062
    fsm->slave_state = ec_fsm_slavescan_end;
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
  1063
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1064
end:
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1065
    fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1066
    fsm->slave_state = ec_fsm_slavescan_end;
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1067
}
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1068
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1069
/*****************************************************************************/
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1070
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1071
/**
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1072
   Slave state: END.
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1073
   End state of the slave state machine.
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1074
*/
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1075
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1076
void ec_fsm_slavescan_end(ec_fsm_t *fsm /**< finite state machine */)
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1077
{
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1078
}
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1079
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1080
/******************************************************************************
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1081
 *  slave configuration sub state machine
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1082
 *****************************************************************************/
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1083
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1084
/**
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1085
   Slave state: INIT.
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1086
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1087
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1088
void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1089
{
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1090
    ec_slave_t *slave = fsm->slave;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1091
    ec_datagram_t *datagram = &fsm->datagram;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1092
    const ec_sync_t *sync;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1093
    ec_eeprom_sync_t *eeprom_sync, mbox_sync;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1094
    unsigned int j;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1095
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1096
    fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1097
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1098
    if (fsm->change_state == ec_fsm_change_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1099
        slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1100
        fsm->slave_state = ec_fsm_slaveconf_end;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1101
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1102
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1103
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1104
    if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1105
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1106
    // slave is now in INIT
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1107
    if (slave->current_state == slave->requested_state) {
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1108
        fsm->slave_state = ec_fsm_slaveconf_end; // successful
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1109
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1110
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1111
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1112
    // check for slave registration
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1113
    if (!slave->type) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1114
        EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1115
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1116
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1117
    // check and reset CRC fault counters
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1118
    //ec_slave_check_crc(slave);
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1119
    // TODO!
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1120
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1121
    if (!slave->base_sync_count) { // no sync managers
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1122
        fsm->slave_state = ec_fsm_slaveconf_preop;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1123
        fsm->change_new = EC_SLAVE_STATE_PREOP;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1124
        fsm->change_state = ec_fsm_change_start;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1125
        fsm->change_state(fsm); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1126
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1127
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1128
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1129
    // configure sync managers
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1130
    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1131
                     EC_SYNC_SIZE * slave->base_sync_count);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1132
    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1133
300
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1134
    // does the slave supply sync manager configurations in its EEPROM?
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1135
    if (!list_empty(&slave->eeprom_syncs)) {
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1136
        list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1137
            if (eeprom_sync->index >= slave->base_sync_count) {
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1138
                fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1139
                fsm->slave_state = ec_fsm_slaveconf_end;
300
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1140
                EC_ERR("Invalid sync manager configuration found!");
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1141
                return;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1142
            }
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1143
            ec_eeprom_sync_config(eeprom_sync, slave,
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1144
                                  datagram->data + EC_SYNC_SIZE
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1145
                                  * eeprom_sync->index);
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1146
        }
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1147
    }
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1148
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1149
    // known slave type, take type's SM information
300
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1150
    else if (slave->type) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1151
        for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1152
            sync = slave->type->sync_managers[j];
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1153
            ec_sync_config(sync, slave, datagram->data + EC_SYNC_SIZE * j);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1154
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1155
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1156
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1157
    // unknown type, but slave has mailbox
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1158
    else if (slave->sii_mailbox_protocols)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1159
    {
300
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1160
        // guess mailbox settings
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1161
        mbox_sync.physical_start_address =
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1162
            slave->sii_rx_mailbox_offset;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1163
        mbox_sync.length = slave->sii_rx_mailbox_size;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1164
        mbox_sync.control_register = 0x26;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1165
        mbox_sync.enable = 1;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1166
        ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1167
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1168
        mbox_sync.physical_start_address =
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1169
            slave->sii_tx_mailbox_offset;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1170
        mbox_sync.length = slave->sii_tx_mailbox_size;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1171
        mbox_sync.control_register = 0x22;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1172
        mbox_sync.enable = 1;
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1173
        ec_eeprom_sync_config(&mbox_sync, slave,
9cb024c1d080 Prefer EEPROM sync manager information also in FSM.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1174
                              datagram->data + EC_SYNC_SIZE);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1175
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1176
        EC_INFO("Mailbox configured for unknown slave %i\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1177
                slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1178
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1179
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1180
    ec_master_queue_datagram(fsm->master, datagram);
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1181
    fsm->slave_state = ec_fsm_slaveconf_sync;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1182
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1183
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1184
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1185
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1186
/**
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1187
   Slave state: SYNC.
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1188
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1189
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1190
void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1191
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1192
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1193
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1194
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1195
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1196
        slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1197
        fsm->slave_state = ec_fsm_slaveconf_end;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1198
        EC_ERR("Failed to set sync managers on slave %i.\n",
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1199
               slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1200
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1201
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1202
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1203
    fsm->slave_state = ec_fsm_slaveconf_preop;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1204
    fsm->change_new = EC_SLAVE_STATE_PREOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1205
    fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1206
    fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1207
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1208
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1209
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1210
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1211
/**
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1212
   Slave state: PREOP.
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1213
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1214
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1215
void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1216
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1217
    ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1218
    ec_master_t *master = fsm->master;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1219
    ec_datagram_t *datagram = &fsm->datagram;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1220
    unsigned int j;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1221
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1222
    fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1223
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1224
    if (fsm->change_state == ec_fsm_change_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1225
        slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1226
        fsm->slave_state = ec_fsm_slaveconf_end;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1227
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1228
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1229
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1230
    if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1231
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1232
    // slave is now in PREOP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1233
    if (slave->current_state == slave->requested_state) {
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1234
        fsm->slave_state = ec_fsm_slaveconf_end; // successful
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1235
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1236
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1237
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1238
    // stop activation here for slaves without type
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1239
    if (!slave->type) {
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1240
        fsm->slave_state = ec_fsm_slaveconf_end; // successful
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1241
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1242
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1243
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1244
    if (!slave->base_fmmu_count) {
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1245
        fsm->slave_state = ec_fsm_slaveconf_saveop;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1246
        fsm->change_new = EC_SLAVE_STATE_SAVEOP;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1247
        fsm->change_state = ec_fsm_change_start;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1248
        fsm->change_state(fsm); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1249
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1250
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1252
    // configure FMMUs
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1253
    ec_datagram_npwr(datagram, slave->station_address,
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1254
                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1255
    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1256
    for (j = 0; j < slave->fmmu_count; j++) {
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 269
diff changeset
  1257
        ec_fmmu_config(&slave->fmmus[j], slave,
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1258
                       datagram->data + EC_FMMU_SIZE * j);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1259
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1260
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1261
    ec_master_queue_datagram(master, datagram);
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1262
    fsm->slave_state = ec_fsm_slaveconf_fmmu;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1263
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1264
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1265
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1266
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1267
/**
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1268
   Slave state: FMMU.
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1269
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1270
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1271
void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1272
{
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1273
    ec_datagram_t *datagram = &fsm->datagram;
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1274
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1275
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
  1276
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1277
        fsm->slave_state = ec_fsm_slaveconf_end;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1278
        EC_ERR("Failed to set FMMUs on slave %i.\n",
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1279
               fsm->slave->ring_position);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1280
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1281
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1282
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1283
    // set state to SAVEOP
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1284
    fsm->slave_state = ec_fsm_slaveconf_saveop;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1285
    fsm->change_new = EC_SLAVE_STATE_SAVEOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1286
    fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1287
    fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1288
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1289
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1290
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1291
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1292
/**
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1293
   Slave state: SAVEOP.
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1294
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1295
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1296
void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1297
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1298
    fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1299
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1300
    if (fsm->change_state == ec_fsm_change_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1301
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1302
        fsm->slave_state = ec_fsm_slaveconf_end;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1303
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1304
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1305
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1306
    if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1307
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1308
    // slave is now in SAVEOP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1309
    if (fsm->slave->current_state == fsm->slave->requested_state) {
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1310
        fsm->slave_state = ec_fsm_slaveconf_end; // successful
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1311
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1312
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1313
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1314
    // set state to OP
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1315
    fsm->slave_state = ec_fsm_slaveconf_op;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1316
    fsm->change_new = EC_SLAVE_STATE_OP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1317
    fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1318
    fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1319
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1320
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1321
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1322
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1323
/**
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1324
   Slave state: OP
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1325
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1326
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1327
void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1328
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1329
    fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1330
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1331
    if (fsm->change_state == ec_fsm_change_error) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1332
        fsm->slave->error_flag = 1;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1333
        fsm->slave_state = ec_fsm_slaveconf_end;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1334
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1335
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1336
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1337
    if (fsm->change_state != ec_fsm_change_end) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1338
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1339
    // slave is now in OP
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1340
    fsm->slave_state = ec_fsm_slaveconf_end; // successful
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1341
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1342
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1343
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1344
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1345
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1346
   Slave state: END.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1347
   End state of the slave state machine.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1348
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1349
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1350
void ec_fsm_slaveconf_end(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1351
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1352
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1353
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1354
/******************************************************************************
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1355
 *  SII sub state machine
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1356
 *****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1357
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1358
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1359
   SII state: START_READING.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1360
   Starts reading the slave information interface.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1361
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1362
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1363
void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1364
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1365
    ec_datagram_t *datagram = &fsm->datagram;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1366
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1367
    // initiate read operation
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1368
    if (fsm->sii_mode) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1369
        ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1370
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1371
    else {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1372
        ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1373
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1374
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1375
    EC_WRITE_U8 (datagram->data,     0x00); // read-only access
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1376
    EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1377
    EC_WRITE_U16(datagram->data + 2, fsm->sii_offset);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1378
    ec_master_queue_datagram(fsm->master, datagram);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1379
    fsm->sii_state = ec_fsm_sii_read_check;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1380
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1381
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1382
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1383
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1384
/**
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1385
   SII state: READ_CHECK.
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1386
   Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1387
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1388
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1389
void ec_fsm_sii_read_check(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1390
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1391
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1392
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1393
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1394
        EC_ERR("SII: Reception of read datagram failed.\n");
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1395
        fsm->sii_state = ec_fsm_sii_error;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1396
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1397
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1398
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1399
    fsm->sii_start = get_cycles();
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1400
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1401
    // issue check/fetch datagram
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1402
    if (fsm->sii_mode) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1403
        ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1404
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1405
    else {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1406
        ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1407
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1408
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1409
    ec_master_queue_datagram(fsm->master, datagram);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1410
    fsm->sii_state = ec_fsm_sii_read_fetch;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1411
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1412
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1413
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1414
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1415
/**
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1416
   SII state: READ_FETCH.
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1417
   Fetches the result of an SII-read datagram.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1418
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1419
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1420
void ec_fsm_sii_read_fetch(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1421
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1422
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1423
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1424
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1425
        EC_ERR("SII: Reception of check/fetch datagram failed.\n");
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1426
        fsm->sii_state = ec_fsm_sii_error;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1427
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1428
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1429
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1430
    // check "busy bit"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1431
    if (EC_READ_U8(datagram->data + 1) & 0x81) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1432
        // still busy... timeout?
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1433
        if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1434
            EC_ERR("SII: Timeout.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1435
            fsm->sii_state = ec_fsm_sii_error;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1436
#if 0
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1437
            EC_DBG("SII busy: %02X %02X %02X %02X\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1438
                   EC_READ_U8(datagram->data + 0),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1439
                   EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1440
                   EC_READ_U8(datagram->data + 2),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1441
                   EC_READ_U8(datagram->data + 3));
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1442
#endif
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1443
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1444
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1445
        // issue check/fetch datagram again
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1446
        if (fsm->sii_mode) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1447
            ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1448
        }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1449
        else {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1450
            ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1451
        }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1452
        ec_master_queue_datagram(fsm->master, datagram);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1453
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1454
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1455
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1456
#if 0
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1457
    EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1458
           EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1459
           EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1460
           EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1461
           EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1462
#endif
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1463
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1464
    // SII value received.
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1465
    memcpy(fsm->sii_value, datagram->data + 6, 4);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1466
    fsm->sii_state = ec_fsm_sii_end;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1467
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1468
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1469
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1470
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1471
/**
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1472
   SII state: START_WRITING.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1473
   Starts reading the slave information interface.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1474
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1475
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1476
void ec_fsm_sii_start_writing(ec_fsm_t *fsm /**< finite state machine */)
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1477
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1478
    ec_datagram_t *datagram = &fsm->datagram;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1479
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1480
    // initiate write operation
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1481
    ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1482
    EC_WRITE_U8 (datagram->data,     0x01); // enable write access
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1483
    EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1484
    EC_WRITE_U32(datagram->data + 2, fsm->sii_offset);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1485
    memcpy(datagram->data + 6, fsm->sii_value, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1486
    ec_master_queue_datagram(fsm->master, datagram);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1487
    fsm->sii_state = ec_fsm_sii_write_check;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1488
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1489
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1490
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1491
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1492
/**
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1493
   SII state: WRITE_CHECK.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1494
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1495
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1496
void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */)
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1497
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1498
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1499
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1500
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1501
        EC_ERR("SII: Reception of write datagram failed.\n");
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1502
        fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1503
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1504
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1505
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1506
    fsm->sii_start = get_cycles();
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1507
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1508
    // issue check/fetch datagram
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1509
    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1510
    ec_master_queue_datagram(fsm->master, datagram);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1511
    fsm->sii_state = ec_fsm_sii_write_check2;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1512
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1513
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1514
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1515
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1516
/**
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1517
   SII state: WRITE_CHECK2.
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1518
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1519
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1520
void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */)
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1521
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1522
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1523
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1524
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1525
        EC_ERR("SII: Reception of write check datagram failed.\n");
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1526
        fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1527
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1528
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1529
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1530
    if (EC_READ_U8(datagram->data + 1) & 0x82) {
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1531
        // still busy... timeout?
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1532
        if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1533
            EC_ERR("SII: Write timeout.\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1534
            fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1535
        }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1536
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1537
        // issue check/fetch datagram again
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1538
        ec_master_queue_datagram(fsm->master, datagram);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1539
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1540
    else if (EC_READ_U8(datagram->data + 1) & 0x40) {
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1541
        EC_ERR("SII: Write operation failed!\n");
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1542
        fsm->sii_state = ec_fsm_sii_error;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1543
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1544
    else { // success
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1545
        fsm->sii_state = ec_fsm_sii_end;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1546
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1547
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1548
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1549
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1550
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1551
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1552
   SII state: END.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1553
   End state of the slave SII state machine.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1554
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1555
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1556
void ec_fsm_sii_end(ec_fsm_t *fsm /**< finite state machine */)
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1557
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1558
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1559
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1560
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1561
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1562
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1563
   SII state: ERROR.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1564
   End state of the slave SII state machine.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1565
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1566
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1567
void ec_fsm_sii_error(ec_fsm_t *fsm /**< finite state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1568
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1569
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1570
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1571
/******************************************************************************
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
  1572
 *  state change sub state machine
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1573
 *****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1574
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1575
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1576
   Change state: START.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1577
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1578
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1579
void ec_fsm_change_start(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1580
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1581
    ec_datagram_t *datagram = &fsm->datagram;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1582
    ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1583
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1584
    // write new state to slave
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1585
    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1586
    EC_WRITE_U16(datagram->data, fsm->change_new);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1587
    ec_master_queue_datagram(fsm->master, datagram);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1588
    fsm->change_state = ec_fsm_change_check;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1589
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1590
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1591
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1592
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1593
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1594
   Change state: CHECK.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1595
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1596
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1597
void ec_fsm_change_check(ec_fsm_t *fsm /**< finite state machine */)
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1598
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1599
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1600
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1601
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1602
    if (datagram->state != EC_CMD_RECEIVED) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1603
        fsm->change_state = ec_fsm_change_error;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1604
        EC_ERR("Failed to send state datagram to slave %i!\n",
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1605
               fsm->slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1606
        return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1607
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1608
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1609
    if (datagram->working_counter != 1) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1610
        fsm->change_state = ec_fsm_change_error;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1611
        EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1612
               " respond.\n", fsm->change_new, fsm->slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1613
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1614
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1615
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1616
    fsm->change_start = get_cycles();
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1617
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1618
    // read AL status from slave
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1619
    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1620
    ec_master_queue_datagram(fsm->master, datagram);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1621
    fsm->change_state = ec_fsm_change_status;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1622
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1623
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1624
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1625
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1626
/**
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1627
   Change state: STATUS.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1628
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1629
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1630
void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1631
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1632
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1633
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1634
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1635
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1636
        fsm->change_state = ec_fsm_change_error;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1637
        EC_ERR("Failed to check state 0x%02X on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1638
               fsm->change_new, slave->ring_position);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1639
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1640
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1641
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1642
    slave->current_state = EC_READ_U8(datagram->data);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1643
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1644
    if (slave->current_state == fsm->change_new) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1645
        // state has been set successfully
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1646
        fsm->change_state = ec_fsm_change_end;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1647
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1648
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1649
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1650
    if (slave->current_state & 0x10) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1651
        // state change error
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1652
        fsm->change_new = slave->current_state & 0x0F;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1653
        EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1654
               " (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1655
               slave->current_state);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1656
        // fetch AL status error code
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1657
        ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1658
        ec_master_queue_datagram(fsm->master, datagram);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1659
        fsm->change_state = ec_fsm_change_code;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1660
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1661
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1662
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1663
    if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1664
        // timeout while checking
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1665
        fsm->change_state = ec_fsm_change_error;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1666
        EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1667
               fsm->change_new, slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1668
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1669
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1670
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1671
    // still old state: check again
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1672
    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1673
    ec_master_queue_datagram(fsm->master, datagram);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1674
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1675
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1676
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1677
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
  1678
/**
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1679
   Application layer status messages.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1680
*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1681
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1682
const ec_code_msg_t al_status_messages[] = {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1683
    {0x0001, "Unspecified error"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1684
    {0x0011, "Invalud requested state change"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1685
    {0x0012, "Unknown requested state"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1686
    {0x0013, "Bootstrap not supported"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1687
    {0x0014, "No valid firmware"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1688
    {0x0015, "Invalid mailbox configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1689
    {0x0016, "Invalid mailbox configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1690
    {0x0017, "Invalid sync manager configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1691
    {0x0018, "No valid inputs available"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1692
    {0x0019, "No valid outputs"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1693
    {0x001A, "Synchronisation error"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1694
    {0x001B, "Sync manager watchdog"},
297
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1695
    {0x001C, "Invalid sync manager types"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1696
    {0x001D, "Invalid output configuration"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1697
    {0x001E, "Invalid input configuration"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1698
    {0x001F, "Invalid watchdog configuration"},
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1699
    {0x0020, "Slave needs cold start"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1700
    {0x0021, "Slave needs INIT"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1701
    {0x0022, "Slave needs PREOP"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1702
    {0x0023, "Slave needs SAVEOP"},
297
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1703
    {0x0030, "Invalid DC SYNCH configuration"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1704
    {0x0031, "Invalid DC latch configuration"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1705
    {0x0032, "PLL error"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1706
    {0x0033, "Invalid DC IO error"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1707
    {0x0034, "Invalid DC timeout error"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1708
    {0x0042, "MBOX EOE"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1709
    {0x0043, "MBOX COE"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1710
    {0x0044, "MBOX FOE"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1711
    {0x0045, "MBOX SOE"},
ac2a057a8ef2 Added missing AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
  1712
    {0x004F, "MBOX VOE"},
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1713
    {}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1714
};
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1715
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1716
/*****************************************************************************/
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1717
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1718
/**
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1719
   Change state: CODE.
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1720
*/
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1721
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1722
void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1723
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1724
    ec_datagram_t *datagram = &fsm->datagram;
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1725
    ec_slave_t *slave = fsm->slave;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1726
    uint32_t code;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1727
    const ec_code_msg_t *al_msg;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1728
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1729
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1730
        fsm->change_state = ec_fsm_change_error;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1731
        EC_ERR("Reception of AL status code datagram failed.\n");
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1732
        return;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1733
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1734
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1735
    if ((code = EC_READ_U16(datagram->data))) {
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1736
        for (al_msg = al_status_messages; al_msg->code; al_msg++) {
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1737
            if (al_msg->code != code) continue;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1738
            EC_ERR("AL status message 0x%04X: \"%s\".\n",
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1739
                   al_msg->code, al_msg->message);
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1740
            break;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1741
        }
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1742
        if (!al_msg->code)
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1743
            EC_ERR("Unknown AL status code 0x%04X.\n", code);
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1744
    }
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1745
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1746
    // acknowledge "old" slave state
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1747
    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1748
    EC_WRITE_U16(datagram->data, slave->current_state);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1749
    ec_master_queue_datagram(fsm->master, datagram);
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1750
    fsm->change_state = ec_fsm_change_ack;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1751
}
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1752
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1753
/*****************************************************************************/
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1754
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1755
/**
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1756
   Change state: ACK.
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1757
*/
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1758
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1759
void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1760
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1761
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1762
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1763
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1764
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1765
        fsm->change_state = ec_fsm_change_error;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1766
        EC_ERR("Reception of state ack datagram failed.\n");
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1767
        return;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1768
    }
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1769
301
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1770
    fsm->change_start = get_cycles();
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1771
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1772
    // read new AL status
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1773
    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1774
    ec_master_queue_datagram(fsm->master, datagram);
311
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1775
    fsm->change_state = ec_fsm_change_check_ack;
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1776
}
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1777
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1778
/*****************************************************************************/
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1779
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1780
/**
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1781
   Change state: CHECK ACK.
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1782
*/
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1783
197489292da8 Renamed ACK2 state to CHECK ACK.
Florian Pose <fp@igh-essen.com>
parents: 310
diff changeset
  1784
void ec_fsm_change_check_ack(ec_fsm_t *fsm /**< finite state machine */)
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1785
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1786
    ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1787
    ec_slave_t *slave = fsm->slave;
301
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1788
    ec_slave_state_t ack_state;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1789
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1790
    if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1791
        fsm->change_state = ec_fsm_change_error;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1792
        EC_ERR("Reception of state ack check datagram failed.\n");
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1793
        return;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1794
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1795
301
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1796
    ack_state = EC_READ_U8(datagram->data);
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1797
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1798
    if (ack_state == slave->current_state) {
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1799
        fsm->change_state = ec_fsm_change_error;
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1800
        EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1801
                slave->current_state, slave->ring_position);
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1802
        return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1803
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1804
301
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1805
    if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1806
        // timeout while checking
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1807
        slave->current_state = EC_SLAVE_STATE_UNKNOWN;
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1808
        fsm->change_state = ec_fsm_change_error;
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1809
        EC_ERR("Timeout while acknowleging state 0x%02X on slave %i.\n",
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1810
               fsm->change_new, slave->ring_position);
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1811
        return;
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1812
    }
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1813
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1814
    // reread new AL status
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1815
    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
dfe8192a7e19 Ack timeout in FSM.
Florian Pose <fp@igh-essen.com>
parents: 300
diff changeset
  1816
    ec_master_queue_datagram(fsm->master, datagram);
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1817
}
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1818
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1819
/*****************************************************************************/
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1820
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1821
/**
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1822
   Change state: END.
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1823
*/
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1824
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1825
void ec_fsm_change_end(ec_fsm_t *fsm /**< finite state machine */)
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1826
{
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1827
}
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1828
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1829
/*****************************************************************************/
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1830
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1831
/**
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1832
   Change state: ERROR.
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1833
*/
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1834
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1835
void ec_fsm_change_error(ec_fsm_t *fsm /**< finite state machine */)
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1836
{
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1837
}
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1838
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1839
/*****************************************************************************/