master/fsm_master.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Wed, 23 Apr 2014 13:15:10 +0200
branchstable-1.5
changeset 2552 6e419c23b1b3
parent 2522 ec403cf308eb
child 2529 c7e1f2616a9d
permissions -rw-r--r--
added ccat support for kernel 2.6.32
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 * EtherCAT master state machine.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "fsm_master.h"
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#include "fsm_foe.h"
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/*****************************************************************************/
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/** Time difference [ns] to tolerate without setting a new system time offset.
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 */
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#define EC_SYSTEM_TIME_TOLERANCE_NS 1000000
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/*****************************************************************************/
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void ec_fsm_master_state_start(ec_fsm_master_t *);
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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void ec_fsm_master_state_read_state(ec_fsm_master_t *);
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);
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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);
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void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);
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void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);
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void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_master_init(
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        ec_fsm_master_t *fsm, /**< Master state machine. */
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        ec_master_t *master, /**< EtherCAT master. */
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        ec_datagram_t *datagram /**< Datagram object to use. */
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        )
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{
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    fsm->master = master;
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    fsm->datagram = datagram;
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    ec_fsm_master_reset(fsm);
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    // init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe);
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    ec_fsm_soe_init(&fsm->fsm_soe);
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    ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
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            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &fsm->fsm_pdo);
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    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
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            &fsm->fsm_slave_config, &fsm->fsm_pdo);
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_master_clear(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    // clear sub-state machines
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_soe_clear(&fsm->fsm_soe);
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    ec_fsm_pdo_clear(&fsm->fsm_pdo);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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}
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/*****************************************************************************/
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/** Reset state machine.
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 */
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void ec_fsm_master_reset(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    ec_device_index_t dev_idx;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->idle = 0;
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    fsm->dev_idx = EC_DEVICE_MAIN;
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    for (dev_idx = EC_DEVICE_MAIN;
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            dev_idx < ec_master_num_devices(fsm->master); dev_idx++) {
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        fsm->link_state[dev_idx] = 0;
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        fsm->slaves_responding[dev_idx] = 0;
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        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;
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    }
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    fsm->rescan_required = 0;
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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 * of the state machine is delayed to the next cycle.
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 *
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 * \return true, if the state machine was executed
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 */
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int ec_fsm_master_exec(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return 0;
528
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    }
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    fsm->state(fsm);
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    return 1;
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}
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/*****************************************************************************/
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/**
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 * \return true, if the state machine is in an idle phase
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 */
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int ec_fsm_master_idle(
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        const ec_fsm_master_t *fsm /**< Master state machine. */
650
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        )
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{
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    return fsm->idle;
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}
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/*****************************************************************************/
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/** Restarts the master state machine.
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 */
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void ec_fsm_master_restart(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    fsm->dev_idx = EC_DEVICE_MAIN;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->state(fsm); // execute immediately
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}
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238
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/******************************************************************************
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 * Master state machine
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 *****************************************************************************/
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/** Master state: START.
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 *
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 * Starts with getting slave count and slave states.
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 */
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void ec_fsm_master_state_start(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    fsm->idle = 1;
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
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    ec_datagram_zero(fsm->datagram);
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    fsm->datagram->device_index = fsm->dev_idx;
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    fsm->state = ec_fsm_master_state_broadcast;
260
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   206
}
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/*****************************************************************************/
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/** Master state: BROADCAST.
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 *
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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_state_broadcast(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    ec_datagram_t *datagram = fsm->datagram;
1005
5af7ab9a98b1 Minor change.
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    unsigned int i, size;
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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   222
553
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
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    // bus topology change?
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    if (datagram->working_counter != fsm->slaves_responding[fsm->dev_idx]) {
1961
48f536aefc18 Rescan command.
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        fsm->rescan_required = 1;
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        fsm->slaves_responding[fsm->dev_idx] = datagram->working_counter;
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        EC_MASTER_INFO(master, "%u slave(s) responding on %s device.\n",
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                fsm->slaves_responding[fsm->dev_idx],
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                ec_device_names[fsm->dev_idx != 0]);
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   230
    }
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    if (fsm->link_state[fsm->dev_idx] &&
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            !master->devices[fsm->dev_idx].link_state) {
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        ec_device_index_t dev_idx;
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   235
1921
d9cf40facbc4 Improved syslog macros.
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        EC_MASTER_DBG(master, 1, "Master state machine detected "
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                "link down on %s device. Clearing slave list.\n",
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                ec_device_names[fsm->dev_idx != 0]);
1402
4c1203ec569d Tested clearing slave list after link down; minor changes.
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   239
1400
3c4923051e43 Clear slave list on link down.
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   240
#ifdef EC_EOE
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   241
        ec_master_eoe_stop(master);
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        ec_master_clear_eoe_handlers(master);
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   243
#endif
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   244
        ec_master_clear_slaves(master);
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        for (dev_idx = EC_DEVICE_MAIN;
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                dev_idx < ec_master_num_devices(master); dev_idx++) {
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            fsm->slave_states[dev_idx] = 0x00;
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            fsm->slaves_responding[dev_idx] = 0; /* Reset to trigger rescan on
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   250
                                                    next link up. */
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   251
        }
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    }
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    fsm->link_state[fsm->dev_idx] = master->devices[fsm->dev_idx].link_state;
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parents: 2301
diff changeset
   254
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   255
    if (datagram->state == EC_DATAGRAM_RECEIVED &&
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   256
            fsm->slaves_responding[fsm->dev_idx]) {
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents: 1005
diff changeset
   257
        uint8_t states = EC_READ_U8(datagram->data);
2374
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   258
        if (states != fsm->slave_states[fsm->dev_idx]) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   259
            // slave states changed
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents: 1005
diff changeset
   260
            char state_str[EC_STATE_STRING_SIZE];
2374
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   261
            fsm->slave_states[fsm->dev_idx] = states;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   262
            ec_state_string(states, state_str, 1);
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   263
            EC_MASTER_INFO(master, "Slave states on %s device: %s.\n",
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   264
                    ec_device_names[fsm->dev_idx != 0], state_str);
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents: 1005
diff changeset
   265
        }
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
Florian Pose <fp@igh-essen.com>
parents: 1005
diff changeset
   266
    } else {
2374
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   267
        fsm->slave_states[fsm->dev_idx] = 0x00;
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   268
    }
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   269
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   270
    fsm->dev_idx++;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   271
    if (fsm->dev_idx < ec_master_num_devices(master)) {
2374
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   272
        // check number of responding slaves on next device
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parents: 2301
diff changeset
   273
        fsm->state = ec_fsm_master_state_start;
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   274
        fsm->state(fsm); // execute immediately
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   275
        return;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   276
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   277
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   278
    if (fsm->rescan_required) {
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   279
        down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   280
        if (!master->allow_scan) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   281
            up(&master->scan_sem);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   282
        } else {
2374
e898451c054a Slave scanning and configuration on all links.
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parents: 2301
diff changeset
   283
            unsigned int count = 0, next_dev_slave, ring_position;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   284
            ec_device_index_t dev_idx;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   285
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   286
            master->scan_busy = 1;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   287
            up(&master->scan_sem);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   288
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   289
            // clear all slaves and scan the bus
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   290
            fsm->rescan_required = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   291
            fsm->idle = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   292
            fsm->scan_jiffies = jiffies;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   293
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   294
#ifdef EC_EOE
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   295
            ec_master_eoe_stop(master);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   296
            ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   297
#endif
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   298
            ec_master_clear_slaves(master);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   299
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   300
            for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   301
                    dev_idx < ec_master_num_devices(master); dev_idx++) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   302
                count += fsm->slaves_responding[dev_idx];
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   303
            }
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   304
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   305
            if (!count) {
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   306
                // no slaves present -> finish state machine.
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   307
                master->scan_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   308
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   309
                ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   310
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   311
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   312
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   313
            size = sizeof(ec_slave_t) * count;
2120
7dd86c484192 Fixed missing return causing slaves not going to OP.
Florian Pose <fp@igh-essen.com>
parents: 2119
diff changeset
   314
            if (!(master->slaves =
7dd86c484192 Fixed missing return causing slaves not going to OP.
Florian Pose <fp@igh-essen.com>
parents: 2119
diff changeset
   315
                        (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   316
                EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   317
                        " of slave memory!\n", size);
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   318
                master->scan_busy = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   319
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   320
                ec_fsm_master_restart(fsm);
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   321
                return;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   322
            }
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   323
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   324
            // init slaves
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   325
            dev_idx = EC_DEVICE_MAIN;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   326
            next_dev_slave = fsm->slaves_responding[dev_idx];
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   327
            ring_position = 0;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   328
            for (i = 0; i < count; i++, ring_position++) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   329
                slave = master->slaves + i;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   330
                while (i >= next_dev_slave) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   331
                    dev_idx++;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   332
                    next_dev_slave += fsm->slaves_responding[dev_idx];
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   333
                    ring_position = 0;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   334
                }
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   335
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   336
                ec_slave_init(slave, master, dev_idx, ring_position, i + 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   337
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   338
                // do not force reconfiguration in operation phase to avoid
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   339
                // unnecesssary process data interruptions
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   340
                if (master->phase != EC_OPERATION) {
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   341
                    slave->force_config = 1;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   342
                }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   343
            }
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   344
            master->slave_count = count;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   345
            master->fsm_slave = master->slaves;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   346
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   347
            /* start with first device with slaves responding; at least one
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   348
             * has responding slaves, otherwise count would be zero. */
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   349
            fsm->dev_idx = EC_DEVICE_MAIN;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   350
            while (!fsm->slaves_responding[fsm->dev_idx]) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   351
                fsm->dev_idx++;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   352
            }
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   353
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   354
            ec_fsm_master_enter_clear_addresses(fsm);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   355
            return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   356
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   357
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   358
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   359
    if (master->slave_count) {
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   360
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   361
        // application applied configurations
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   362
        if (master->config_changed) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   363
            master->config_changed = 0;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   364
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   365
            EC_MASTER_DBG(master, 1, "Configuration changed.\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   366
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   367
            fsm->slave = master->slaves; // begin with first slave
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   368
            ec_fsm_master_enter_write_system_times(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   369
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   370
        } else {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   371
            // fetch state from first slave
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   372
            fsm->slave = master->slaves;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   373
            ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   374
                    0x0130, 2);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   375
            ec_datagram_zero(datagram);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   376
            fsm->datagram->device_index = fsm->slave->device_index;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   377
            fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   378
            fsm->state = ec_fsm_master_state_read_state;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   379
        }
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   380
    } else {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   381
        ec_fsm_master_restart(fsm);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   382
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   383
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   384
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   385
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   386
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   387
/** Check for pending SII write requests and process one.
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   388
 *
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   389
 * \return non-zero, if an SII write request is processed.
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   390
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   391
int ec_fsm_master_action_process_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   392
        ec_fsm_master_t *fsm /**< Master state machine. */
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   393
        )
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   394
{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   395
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   396
    ec_sii_write_request_t *request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   397
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   398
    // search the first request to be processed
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   399
    while (1) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   400
        if (list_empty(&master->sii_requests))
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   401
            break;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   402
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   403
        // get first request
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   404
        request = list_entry(master->sii_requests.next,
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   405
                ec_sii_write_request_t, list);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   406
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   407
        request->state = EC_INT_REQUEST_BUSY;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   408
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   409
        // found pending SII write operation. execute it!
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   410
        EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   411
        fsm->sii_request = request;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   412
        fsm->sii_index = 0;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   413
        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   414
                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   415
        fsm->state = ec_fsm_master_state_write_sii;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   416
        fsm->state(fsm); // execute immediately
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   417
        return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   418
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   419
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   420
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   421
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   422
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   423
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   424
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   425
/** Check for pending SDO requests and process one.
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   426
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   427
 * \return non-zero, if an SDO request is processed.
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   428
 */
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   429
int ec_fsm_master_action_process_sdo(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   430
        ec_fsm_master_t *fsm /**< Master state machine. */
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   431
        )
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   432
{
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   433
    ec_master_t *master = fsm->master;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   434
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   435
    ec_sdo_request_t *req;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   436
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   437
    // search for internal requests to be processed
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   438
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   439
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   440
            slave++) {
2457
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
   441
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
   442
        if (!slave->config) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   443
            continue;
2457
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
   444
        }
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
   445
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   446
        list_for_each_entry(req, &slave->config->sdo_requests, list) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   447
            if (req->state == EC_INT_REQUEST_QUEUED) {
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   448
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   449
                if (ec_sdo_request_timed_out(req)) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   450
                    req->state = EC_INT_REQUEST_FAILURE;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   451
                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   452
                            " timed out.\n");
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   453
                    continue;
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   454
                }
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   455
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   456
                if (slave->current_state == EC_SLAVE_STATE_INIT) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   457
                    req->state = EC_INT_REQUEST_FAILURE;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   458
                    continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   459
                }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   460
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   461
                req->state = EC_INT_REQUEST_BUSY;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   462
                EC_SLAVE_DBG(slave, 1, "Processing internal"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   463
                        " SDO request...\n");
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   464
                fsm->idle = 0;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   465
                fsm->sdo_request = req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   466
                fsm->slave = slave;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   467
                fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   468
                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   469
                ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   470
                return 1;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   471
            }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   472
        }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   473
    }
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   474
    return 0;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   475
}
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   476
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   477
/*****************************************************************************/
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   478
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   479
/** Master action: IDLE.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   480
 *
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   481
 * Does secondary work.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   482
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   483
void ec_fsm_master_action_idle(
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   484
        ec_fsm_master_t *fsm /**< Master state machine. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   485
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   486
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   487
    ec_master_t *master = fsm->master;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   488
    ec_slave_t *slave;
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   489
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   490
    // Check for pending internal SDO requests
2379
6f100ee02e65 Minor: Braces.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   491
    if (ec_fsm_master_action_process_sdo(fsm)) {
6f100ee02e65 Minor: Braces.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   492
        return;
6f100ee02e65 Minor: Braces.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   493
    }
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   494
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1830
diff changeset
   495
    // enable processing of requests
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   496
    for (slave = master->slaves;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   497
            slave < master->slaves + master->slave_count;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   498
            slave++) {
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   499
        ec_fsm_slave_set_ready(&slave->fsm);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   500
    }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   501
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   502
    // check, if slaves have an SDO dictionary to read out.
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   503
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   504
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   505
            slave++) {
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   506
        if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   507
                || (slave->sii.has_general
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   508
                    && !slave->sii.coe_details.enable_sdo_info)
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   509
                || slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   510
                || slave->current_state == EC_SLAVE_STATE_INIT
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   511
                || slave->current_state == EC_SLAVE_STATE_UNKNOWN
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   512
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   513
                ) continue;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   514
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   515
        EC_SLAVE_DBG(slave, 1, "Fetching SDO dictionary.\n");
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   516
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   517
        slave->sdo_dictionary_fetched = 1;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   518
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   519
        // start fetching SDO dictionary
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   520
        fsm->idle = 0;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   521
        fsm->slave = slave;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   522
        fsm->state = ec_fsm_master_state_sdo_dictionary;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   523
        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   524
        ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram); // execute immediately
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   525
        fsm->datagram->device_index = fsm->slave->device_index;
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   526
        return;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   527
    }
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   528
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   529
    // check for pending SII write operations.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   530
    if (ec_fsm_master_action_process_sii(fsm)) {
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   531
        return; // SII write request found
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   532
	}
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   533
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   534
    ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   535
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   536
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   537
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   538
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   539
/** Master action: Get state of next slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   540
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   541
void ec_fsm_master_action_next_slave_state(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   542
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   543
        )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   544
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   545
    ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   546
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   547
    // is there another slave to query?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   548
    fsm->slave++;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   549
    if (fsm->slave < master->slaves + master->slave_count) {
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   550
        // fetch state from next slave
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   551
        fsm->idle = 1;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   552
        ec_datagram_fprd(fsm->datagram,
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   553
                fsm->slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   554
        ec_datagram_zero(fsm->datagram);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   555
        fsm->datagram->device_index = fsm->slave->device_index;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   556
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   557
        fsm->state = ec_fsm_master_state_read_state;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   558
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   559
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   560
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   561
    // all slaves processed
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   562
    ec_fsm_master_action_idle(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   563
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   564
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   565
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   566
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   567
/** Master action: Configure.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   568
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   569
void ec_fsm_master_action_configure(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   570
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   571
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   572
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   573
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   574
    ec_slave_t *slave = fsm->slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   575
2100
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   576
    if (master->config_changed) {
2111
d9d56e56f2a2 Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents: 2108
diff changeset
   577
        master->config_changed = 0;
d9d56e56f2a2 Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents: 2108
diff changeset
   578
2100
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   579
        // abort iterating through slaves,
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   580
        // first compensate DC system time offsets,
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   581
        // then begin configuring at slave 0
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   582
        EC_MASTER_DBG(master, 1, "Configuration changed"
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   583
                " (aborting state check).\n");
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   584
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   585
        fsm->slave = master->slaves; // begin with first slave
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   586
        ec_fsm_master_enter_write_system_times(fsm);
2120
7dd86c484192 Fixed missing return causing slaves not going to OP.
Florian Pose <fp@igh-essen.com>
parents: 2119
diff changeset
   587
        return;
2100
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   588
    }
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   589
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   590
    // Does the slave have to be configured?
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   591
    if ((slave->current_state != slave->requested_state
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   592
                || slave->force_config) && !slave->error_flag) {
1177
03d9640c9ce4 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   593
2115
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   594
        // Start slave configuration
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   595
        down(&master->config_sem);
2115
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   596
        master->config_busy = 1;
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   597
        up(&master->config_sem);
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   598
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   599
        if (master->debug_level) {
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   600
            char old_state[EC_STATE_STRING_SIZE],
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   601
                 new_state[EC_STATE_STRING_SIZE];
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   602
            ec_state_string(slave->current_state, old_state, 0);
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   603
            ec_state_string(slave->requested_state, new_state, 0);
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   604
            EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n",
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   605
                    old_state, new_state,
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   606
                    slave->force_config ? " (forced)" : "");
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   607
        }
2115
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   608
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   609
        fsm->idle = 0;
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   610
        fsm->state = ec_fsm_master_state_configure_slave;
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   611
        ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   612
        fsm->state(fsm); // execute immediately
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   613
        fsm->datagram->device_index = fsm->slave->device_index;
2115
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   614
        return;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   615
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   616
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2475
diff changeset
   617
    // process next slave
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   618
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   619
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   620
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   621
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   622
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   623
/** Master state: READ STATE.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   624
 *
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   625
 * Fetches the AL state of a slave.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   626
 */
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   627
void ec_fsm_master_state_read_state(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   628
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   629
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   630
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   631
    ec_slave_t *slave = fsm->slave;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   632
    ec_datagram_t *datagram = fsm->datagram;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   633
2456
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   634
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   635
        return;
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   636
    }
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   637
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   638
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   639
        EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   640
        ec_datagram_print_state(datagram);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   641
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   642
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   643
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   644
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   645
    // did the slave not respond to its station address?
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   646
    if (datagram->working_counter != 1) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   647
        if (!slave->error_flag) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   648
            slave->error_flag = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   649
            EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n");
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   650
        }
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   651
        fsm->rescan_required = 1;
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   652
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   653
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   654
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   655
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   656
    // A single slave responded
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   657
    ec_slave_set_state(slave, EC_READ_U8(datagram->data));
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   658
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   659
    if (!slave->error_flag) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   660
        // Check, if new slave state has to be acknowledged
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   661
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   662
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   663
            fsm->state = ec_fsm_master_state_acknowledge;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   664
            ec_fsm_change_ack(&fsm->fsm_change, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   665
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   666
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   667
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   668
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   669
        // No acknowlegde necessary; check for configuration
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   670
        ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   671
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   672
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   673
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   674
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   675
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   676
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   677
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   678
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   679
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   680
/** Master state: ACKNOWLEDGE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   681
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   682
void ec_fsm_master_state_acknowledge(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   683
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   684
        )
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   685
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   686
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   687
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   688
    if (ec_fsm_change_exec(&fsm->fsm_change)) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   689
        return;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   690
    }
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   691
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   692
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   693
        fsm->slave->error_flag = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   694
        EC_SLAVE_ERR(slave, "Failed to acknowledge state change.\n");
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   695
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   696
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   697
    ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   698
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   699
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   700
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   701
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   702
/** Start clearing slave addresses.
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   703
 */
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   704
void ec_fsm_master_enter_clear_addresses(
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   705
        ec_fsm_master_t *fsm /**< Master state machine. */
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   706
        )
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   707
{
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   708
    // broadcast clear all station addresses
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   709
    ec_datagram_bwr(fsm->datagram, 0x0010, 2);
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   710
    EC_WRITE_U16(fsm->datagram->data, 0x0000);
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   711
    fsm->datagram->device_index = fsm->dev_idx;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   712
    fsm->retries = EC_FSM_RETRIES;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   713
    fsm->state = ec_fsm_master_state_clear_addresses;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   714
}
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   715
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   716
/*****************************************************************************/
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   717
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   718
/** Master state: CLEAR ADDRESSES.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   719
 */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   720
void ec_fsm_master_state_clear_addresses(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   721
        ec_fsm_master_t *fsm /**< Master state machine. */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   722
        )
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   723
{
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   724
    ec_master_t *master = fsm->master;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   725
    ec_datagram_t *datagram = fsm->datagram;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   726
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   727
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   728
        return;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   729
    }
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   730
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   731
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   732
        EC_MASTER_ERR(master, "Failed to receive address"
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   733
                " clearing datagram on %s link: ",
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   734
                ec_device_names[fsm->dev_idx != 0]);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   735
        ec_datagram_print_state(datagram);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   736
        master->scan_busy = 0;
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   737
        wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   738
        ec_fsm_master_restart(fsm);
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   739
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   740
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   741
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   742
    if (datagram->working_counter != fsm->slaves_responding[fsm->dev_idx]) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   743
        EC_MASTER_WARN(master, "Failed to clear station addresses on %s link:"
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   744
                " Cleared %u of %u",
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   745
                ec_device_names[fsm->dev_idx != 0], datagram->working_counter,
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   746
                fsm->slaves_responding[fsm->dev_idx]);
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   747
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   748
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   749
    EC_MASTER_DBG(master, 1, "Sending broadcast-write"
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   750
            " to measure transmission delays on %s link.\n",
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   751
            ec_device_names[fsm->dev_idx != 0]);
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   752
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   753
    ec_datagram_bwr(datagram, 0x0900, 1);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   754
    ec_datagram_zero(datagram);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   755
    fsm->datagram->device_index = fsm->dev_idx;
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   756
    fsm->retries = EC_FSM_RETRIES;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   757
    fsm->state = ec_fsm_master_state_dc_measure_delays;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   758
}
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   759
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   760
/*****************************************************************************/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   761
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   762
/** Master state: DC MEASURE DELAYS.
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   763
 */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   764
void ec_fsm_master_state_dc_measure_delays(
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   765
        ec_fsm_master_t *fsm /**< Master state machine. */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   766
        )
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   767
{
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   768
    ec_master_t *master = fsm->master;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   769
    ec_datagram_t *datagram = fsm->datagram;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   770
2456
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   771
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   772
        return;
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   773
    }
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   774
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   775
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   776
        EC_MASTER_ERR(master, "Failed to receive delay measuring datagram"
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   777
                " on %s link: ", ec_device_names[fsm->dev_idx != 0]);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   778
        ec_datagram_print_state(datagram);
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   779
        master->scan_busy = 0;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   780
        wake_up_interruptible(&master->scan_queue);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   781
        ec_fsm_master_restart(fsm);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   782
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   783
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   784
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   785
    EC_MASTER_DBG(master, 1, "%u slaves responded to delay measuring"
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   786
            " on %s link.\n",
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   787
            datagram->working_counter, ec_device_names[fsm->dev_idx != 0]);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   788
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   789
    do {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   790
        fsm->dev_idx++;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   791
    } while (fsm->dev_idx < ec_master_num_devices(master) &&
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   792
            !fsm->slaves_responding[fsm->dev_idx]);
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   793
    if (fsm->dev_idx < ec_master_num_devices(master)) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   794
        ec_fsm_master_enter_clear_addresses(fsm);
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   795
        return;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   796
    }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   797
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   798
    EC_MASTER_INFO(master, "Scanning bus.\n");
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   799
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   800
    // begin scanning of slaves
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   801
    fsm->slave = master->slaves;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   802
    EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   803
            fsm->slave->ring_position,
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   804
            ec_device_names[fsm->slave->device_index != 0]);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   805
    fsm->state = ec_fsm_master_state_scan_slave;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   806
    ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   807
    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   808
    fsm->datagram->device_index = fsm->slave->device_index;
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   809
}
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   810
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   811
/*****************************************************************************/
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   812
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   813
/** Master state: SCAN SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   814
 *
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   815
 * Executes the sub-statemachine for the scanning of a slave.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   816
 */
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   817
void ec_fsm_master_state_scan_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   818
        ec_fsm_master_t *fsm /**< Master state machine. */
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   819
        )
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   821
    ec_master_t *master = fsm->master;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   822
#ifdef EC_EOE
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   823
    ec_slave_t *slave = fsm->slave;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   824
#endif
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   825
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   826
    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   827
        return;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   828
    }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   829
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   830
#ifdef EC_EOE
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   831
    if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   832
        // create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   833
        ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   834
        if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   835
            EC_SLAVE_ERR(slave, "Failed to allocate EoE handler memory!\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   836
        } else if (ec_eoe_init(eoe, slave)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   837
            EC_SLAVE_ERR(slave, "Failed to init EoE handler!\n");
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   838
            kfree(eoe);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   839
        } else {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   840
            list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   841
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   842
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   843
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   844
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   845
    // another slave to fetch?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   846
    fsm->slave++;
1002
0e1aaeb3540d Fixed bug in slave scanning, causing a segmentation fault.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   847
    if (fsm->slave < master->slaves + master->slave_count) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   848
        EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   849
                fsm->slave->ring_position,
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
   850
                ec_device_names[fsm->slave->device_index != 0]);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   851
        ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   852
        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   853
        fsm->datagram->device_index = fsm->slave->device_index;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   854
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   855
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   856
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1927
diff changeset
   857
    EC_MASTER_INFO(master, "Bus scanning completed in %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1927
diff changeset
   858
            (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   859
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   860
    master->scan_busy = 0;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   861
    wake_up_interruptible(&master->scan_queue);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   862
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   863
    ec_master_calc_dc(master);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1444
diff changeset
   864
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   865
    // Attach slave configurations
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   866
    ec_master_attach_slave_configs(master);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   867
716
ac2a81a33d3d Minor fix.
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   868
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   869
    // check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   870
    ec_master_eoe_start(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   871
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   872
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   873
    if (master->slave_count) {
2111
d9d56e56f2a2 Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents: 2108
diff changeset
   874
        master->config_changed = 0;
d9d56e56f2a2 Bugfix: Reset config_changed flag when aborting state check.
Florian Pose <fp@igh-essen.com>
parents: 2108
diff changeset
   875
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   876
        fsm->slave = master->slaves; // begin with first slave
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   877
        ec_fsm_master_enter_write_system_times(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   878
    } else {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   879
        ec_fsm_master_restart(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   880
    }
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   881
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   882
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   883
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   885
/** Master state: CONFIGURE SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   886
 *
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   887
 * Starts configuring a slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   888
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   889
void ec_fsm_master_state_configure_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   890
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   891
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   892
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   893
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   894
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   895
    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) {
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   896
        return;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   897
    }
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   898
1277
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   899
    fsm->slave->force_config = 0;
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   900
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   901
    // configuration finished
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   902
    master->config_busy = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   903
    wake_up_interruptible(&master->config_queue);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   904
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   905
    if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   906
        // TODO: mark slave_config as failed.
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   907
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   908
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   909
    fsm->idle = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   910
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   911
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   912
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   913
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   914
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   915
/** Start writing DC system times.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   916
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   917
void ec_fsm_master_enter_write_system_times(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   918
        ec_fsm_master_t *fsm /**< Master state machine. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   919
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   920
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   921
    ec_master_t *master = fsm->master;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   922
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   923
    if (master->has_app_time) {
2100
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   924
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   925
        while (fsm->slave < master->slaves + master->slave_count) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   926
            if (!fsm->slave->base_dc_supported
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   927
                    || !fsm->slave->has_dc_system_time) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   928
                fsm->slave++;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   929
                continue;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   930
            }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   931
2475
9c18c29b8942 Minor DC debugging.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   932
            EC_SLAVE_DBG(fsm->slave, 1, "Checking system time offset.\n");
9c18c29b8942 Minor DC debugging.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   933
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   934
            // read DC system time (0x0910, 64 bit)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   935
            //                         gap (64 bit)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   936
            //     and time offset (0x0920, 64 bit)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   937
            ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   938
                    0x0910, 24);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
   939
            fsm->datagram->device_index = fsm->slave->device_index;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   940
            fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   941
            fsm->state = ec_fsm_master_state_dc_read_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   942
            return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   943
        }
2100
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   944
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   945
    } else {
2100
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   946
        if (master->active) {
2108
6d3620f2328f No app_time is only warning.
Florian Pose <fp@igh-essen.com>
parents: 2100
diff changeset
   947
            EC_MASTER_WARN(master, "No app_time received up to now,"
2119
79d44885021f Fixed typo.
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
   948
                    " but master already active.\n");
2100
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   949
        } else {
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   950
            EC_MASTER_DBG(master, 1, "No app_time received up to now.\n");
da4640f9776d Improved DC sync at startup: Abort iterating though slaves and first correct
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   951
        }
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   952
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   953
2115
2ec1239216e5 Removed allow_config flag and obsolete request to OP.
Florian Pose <fp@igh-essen.com>
parents: 2111
diff changeset
   954
    // scanning and setting system times complete
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   955
    ec_master_request_op(master);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   956
    ec_fsm_master_restart(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   957
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   958
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   959
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   960
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   961
/** Configure 32 bit time offset.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   962
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   963
 * \return New offset.
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   964
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   965
u64 ec_fsm_master_dc_offset32(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   966
        ec_fsm_master_t *fsm, /**< Master state machine. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   967
        u64 system_time, /**< System time register. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   968
        u64 old_offset, /**< Time offset register. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   969
        unsigned long jiffies_since_read /**< Jiffies for correction. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   970
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   971
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   972
    ec_slave_t *slave = fsm->slave;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   973
    u32 correction, system_time32, old_offset32, new_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   974
    s32 time_diff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   975
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   976
    system_time32 = (u32) system_time;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   977
    old_offset32 = (u32) old_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   978
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   979
    // correct read system time by elapsed time since read operation
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   980
    correction = jiffies_since_read * 1000 / HZ * 1000000;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   981
    system_time32 += correction;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   982
    time_diff = (u32) slave->master->app_time - system_time32;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   983
2475
9c18c29b8942 Minor DC debugging.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   984
    EC_SLAVE_DBG(slave, 1, "DC 32 bit system time offset calculation:"
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   985
            " system_time=%u (corrected with %u),"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1927
diff changeset
   986
            " app_time=%llu, diff=%i\n",
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   987
            system_time32, correction,
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1927
diff changeset
   988
            slave->master->app_time, time_diff);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   989
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   990
    if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   991
        new_offset = time_diff + old_offset32;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   992
        EC_SLAVE_DBG(slave, 1, "Setting time offset to %u (was %u)\n",
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   993
                new_offset, old_offset32);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   994
        return (u64) new_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   995
    } else {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   996
        EC_SLAVE_DBG(slave, 1, "Not touching time offset.\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   997
        return old_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   998
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   999
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1000
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1001
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1002
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1003
/** Configure 64 bit time offset.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  1004
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  1005
 * \return New offset.
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1006
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1007
u64 ec_fsm_master_dc_offset64(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1008
        ec_fsm_master_t *fsm, /**< Master state machine. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1009
        u64 system_time, /**< System time register. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1010
        u64 old_offset, /**< Time offset register. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1011
        unsigned long jiffies_since_read /**< Jiffies for correction. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1012
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1013
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1014
    ec_slave_t *slave = fsm->slave;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1015
    u64 new_offset, correction;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1016
    s64 time_diff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1017
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1018
    // correct read system time by elapsed time since read operation
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1019
    correction = (u64) (jiffies_since_read * 1000 / HZ) * 1000000;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1020
    system_time += correction;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1021
    time_diff = fsm->slave->master->app_time - system_time;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1022
2475
9c18c29b8942 Minor DC debugging.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  1023
    EC_SLAVE_DBG(slave, 1, "DC 64 bit system time offset calculation:"
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1024
            " system_time=%llu (corrected with %llu),"
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1025
            " app_time=%llu, diff=%lli\n",
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1026
            system_time, correction,
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1027
            slave->master->app_time, time_diff);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1028
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1029
    if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1030
        new_offset = time_diff + old_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1031
        EC_SLAVE_DBG(slave, 1, "Setting time offset to %llu (was %llu)\n",
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1032
                new_offset, old_offset);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1033
    } else {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1034
        new_offset = old_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1035
        EC_SLAVE_DBG(slave, 1, "Not touching time offset.\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1036
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1037
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1038
    return new_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1039
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1040
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1041
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1042
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1043
/** Master state: DC READ OFFSET.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1044
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1045
void ec_fsm_master_state_dc_read_offset(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1046
        ec_fsm_master_t *fsm /**< Master state machine. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1047
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1048
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1049
    ec_datagram_t *datagram = fsm->datagram;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1050
    ec_slave_t *slave = fsm->slave;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1051
    u64 system_time, old_offset, new_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1052
    unsigned long jiffies_since_read;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1053
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1054
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1055
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1056
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1057
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1058
        EC_SLAVE_ERR(slave, "Failed to receive DC times datagram: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1059
        ec_datagram_print_state(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1060
        fsm->slave++;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1061
        ec_fsm_master_enter_write_system_times(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1062
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1063
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1064
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1065
    if (datagram->working_counter != 1) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1066
        EC_SLAVE_WARN(slave, "Failed to get DC times: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1067
        ec_datagram_print_wc_error(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1068
        fsm->slave++;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1069
        ec_fsm_master_enter_write_system_times(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1070
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1071
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1072
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1073
    system_time = EC_READ_U64(datagram->data);     // 0x0910
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1074
    old_offset = EC_READ_U64(datagram->data + 16); // 0x0920
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1075
    jiffies_since_read = jiffies - datagram->jiffies_sent;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1076
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1077
    if (slave->base_dc_range == EC_DC_32) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1078
        new_offset = ec_fsm_master_dc_offset32(fsm,
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1079
                system_time, old_offset, jiffies_since_read);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1080
    } else {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1081
        new_offset = ec_fsm_master_dc_offset64(fsm,
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1082
                system_time, old_offset, jiffies_since_read);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1083
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1084
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1085
    // set DC system time offset and transmission delay
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1086
    ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1087
    EC_WRITE_U64(datagram->data, new_offset);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1088
    EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
  1089
    fsm->datagram->device_index = slave->device_index;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1090
    fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1091
    fsm->state = ec_fsm_master_state_dc_write_offset;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1092
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1093
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1094
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1095
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1096
/** Master state: DC WRITE OFFSET.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1097
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1098
void ec_fsm_master_state_dc_write_offset(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1099
        ec_fsm_master_t *fsm /**< Master state machine. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1100
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1101
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1102
    ec_datagram_t *datagram = fsm->datagram;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1103
    ec_slave_t *slave = fsm->slave;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1104
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1105
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1106
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1107
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1108
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1109
        EC_SLAVE_ERR(slave,
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1110
                "Failed to receive DC system time offset datagram: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1111
        ec_datagram_print_state(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1112
        fsm->slave++;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1113
        ec_fsm_master_enter_write_system_times(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1114
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1115
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1116
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1117
    if (datagram->working_counter != 1) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1118
        EC_SLAVE_ERR(slave, "Failed to set DC system time offset: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1119
        ec_datagram_print_wc_error(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1120
        fsm->slave++;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1121
        ec_fsm_master_enter_write_system_times(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1122
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1123
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1124
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1125
    fsm->slave++;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1126
    ec_fsm_master_enter_write_system_times(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1127
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1128
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1129
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1130
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1131
/** Master state: WRITE SII.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1132
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1133
void ec_fsm_master_state_write_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1134
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1135
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1136
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1137
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1138
    ec_sii_write_request_t *request = fsm->sii_request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1139
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1140
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1141
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1142
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1143
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1144
        EC_SLAVE_ERR(slave, "Failed to write SII data.\n");
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1145
        request->state = EC_INT_REQUEST_FAILURE;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1146
        wake_up_all(&master->request_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1147
        ec_fsm_master_restart(fsm);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1148
        return;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1149
    }
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1150
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1151
    fsm->sii_index++;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
  1152
    if (fsm->sii_index < request->nwords) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1153
        ec_fsm_sii_write(&fsm->fsm_sii, slave,
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
  1154
                request->offset + fsm->sii_index,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
  1155
                request->words + fsm->sii_index,
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1156
                EC_FSM_SII_USE_CONFIGURED_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1157
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1158
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1159
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1160
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1161
    // finished writing SII
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1162
    EC_SLAVE_DBG(slave, 1, "Finished writing %zu words of SII data.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1163
            request->nwords);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1164
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1165
    if (request->offset <= 4 && request->offset + request->nwords > 4) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1166
        // alias was written
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1167
        slave->sii.alias = EC_READ_U16(request->words + 4);
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
  1168
        // TODO: read alias from register 0x0012
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1892
diff changeset
  1169
        slave->effective_alias = slave->sii.alias;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1170
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1171
    // TODO: Evaluate other SII contents!
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1172
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1173
    request->state = EC_INT_REQUEST_SUCCESS;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1174
    wake_up_all(&master->request_queue);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1175
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1176
    // check for another SII write request
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1177
    if (ec_fsm_master_action_process_sii(fsm))
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1178
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1179
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1180
    ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1181
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1182
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1183
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1184
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1185
/** Master state: SDO DICTIONARY.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1186
 */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
  1187
void ec_fsm_master_state_sdo_dictionary(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1188
        ec_fsm_master_t *fsm /**< Master state machine. */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
  1189
        )
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1190
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1191
    ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1192
    ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1193
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1194
    if (ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram)) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
  1195
        return;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
  1196
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1197
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1198
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1199
        ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1200
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1201
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1202
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1203
    // SDO dictionary fetching finished
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1204
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1205
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1206
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1207
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1208
        EC_SLAVE_DBG(slave, 1, "Fetched %u SDOs and %u entries.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1209
               sdo_count, entry_count);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1210
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1211
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1212
    // attach pdo names from dictionary
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1213
    ec_slave_attach_pdo_names(slave);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1214
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1215
    ec_fsm_master_restart(fsm);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1216
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1217
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1218
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1219
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1220
/** Master state: SDO REQUEST.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1221
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1222
void ec_fsm_master_state_sdo_request(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1223
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1224
        )
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1225
{
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
  1226
    ec_sdo_request_t *request = fsm->sdo_request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1227
2457
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1228
    if (!request) {
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1229
        // configuration was cleared in the meantime
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1230
        ec_fsm_master_restart(fsm);
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1231
        return;
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1232
    }
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1233
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1234
    if (ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram)) {
2457
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1235
        return;
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
  1236
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1237
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1238
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1239
        EC_SLAVE_DBG(fsm->slave, 1,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1240
                "Failed to process internal SDO request.\n");
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1241
        request->state = EC_INT_REQUEST_FAILURE;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1242
        wake_up_all(&fsm->master->request_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1243
        ec_fsm_master_restart(fsm);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1244
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1245
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1246
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1247
    // SDO request finished
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1248
    request->state = EC_INT_REQUEST_SUCCESS;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1249
    wake_up_all(&fsm->master->request_queue);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1250
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1251
    EC_SLAVE_DBG(fsm->slave, 1, "Finished internal SDO request.\n");
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1252
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1253
    // check for another SDO request
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1254
    if (ec_fsm_master_action_process_sdo(fsm)) {
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1255
        return; // processing another request
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1256
    }
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1257
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1258
    ec_fsm_master_restart(fsm);
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1259
}
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1260
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1261
/*****************************************************************************/