master/fsm_master.c
author Florian Pose <fp@igh-essen.com>
Sun, 06 Jun 2010 22:40:22 +0200
changeset 1944 73896ef6d077
parent 1931 831f2d34664c
child 1961 48f536aefc18
permissions -rw-r--r--
Added state parameter to ecrt_slave_config_idn().
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \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 100000000
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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_state_reg_request(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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    fsm->state = ec_fsm_master_state_start;
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    fsm->idle = 0;
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    fsm->link_state = 0;
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    fsm->slaves_responding = 0;
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    fsm->topology_change_pending = 0;
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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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    // init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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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_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_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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/** 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;
446
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}
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650
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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(
907
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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->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
238
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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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        )
528
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{
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    fsm->idle = 1;
528
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
1225
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    ec_datagram_zero(fsm->datagram);
528
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    fsm->state = ec_fsm_master_state_broadcast;
260
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}
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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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        )
528
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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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637
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT)
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   200
        return; // always retry
505
bc443ca0077f State machines re-send datagrams on timeout.
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553
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
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    // bus topology change?
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   203
    if (datagram->working_counter != fsm->slaves_responding) {
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        fsm->topology_change_pending = 1;
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        fsm->slaves_responding = datagram->working_counter;
1921
d9cf40facbc4 Improved syslog macros.
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        EC_MASTER_INFO(master, "%u slave(s) responding.\n",
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   207
                fsm->slaves_responding);
906
f95e3e33c0cf Removed slave online flag.
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   208
    }
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1400
3c4923051e43 Clear slave list on link down.
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   210
    if (fsm->link_state && !master->main_device.link_state) { // link went down
1921
d9cf40facbc4 Improved syslog macros.
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   211
        EC_MASTER_DBG(master, 1, "Master state machine detected "
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   212
                "link down. Clearing slave list.\n");
1402
4c1203ec569d Tested clearing slave list after link down; minor changes.
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   213
1400
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   214
#ifdef EC_EOE
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   215
        ec_master_eoe_stop(master);
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        ec_master_clear_eoe_handlers(master);
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   217
#endif
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   218
        ec_master_clear_slaves(master);
1830
ef09f0ea0c4c Reset AL states on link down.
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   219
        fsm->slave_states = 0x00;
1400
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diff changeset
   220
    }
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   221
    fsm->link_state = master->main_device.link_state;
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   222
1402
4c1203ec569d Tested clearing slave list after link down; minor changes.
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   223
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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   224
        ec_fsm_master_restart(fsm);
906
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   225
        return;
260
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   226
    }
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diff changeset
   227
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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   228
    if (fsm->slaves_responding) {
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   229
        uint8_t states = EC_READ_U8(datagram->data);
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   230
        if (states != fsm->slave_states) { // slave states changed?
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   231
            char state_str[EC_STATE_STRING_SIZE];
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   232
            fsm->slave_states = states;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   233
            ec_state_string(fsm->slave_states, state_str, 1);
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   234
            EC_MASTER_INFO(master, "Slave states: %s.\n", state_str);
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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   235
        }
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   236
    } else {
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   237
        fsm->slave_states = 0x00;
260
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diff changeset
   238
    }
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diff changeset
   239
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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   240
    if (fsm->topology_change_pending) {
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   241
        down(&master->scan_sem);
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diff changeset
   242
        if (!master->allow_scan) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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   243
            up(&master->scan_sem);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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parents: 880
diff changeset
   244
        } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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   245
            master->scan_busy = 1;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   246
            up(&master->scan_sem);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   247
656
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   248
            // topology change when scan is allowed:
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   249
            // clear all slaves and scan the bus
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   250
            fsm->topology_change_pending = 0;
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   251
            fsm->idle = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   252
            fsm->scan_jiffies = jiffies;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   253
715
f12ff7c08623 Added --enable-eoe conditional.
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parents: 713
diff changeset
   254
#ifdef EC_EOE
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   255
            ec_master_eoe_stop(master);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   256
            ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   257
#endif
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   258
            ec_master_clear_slaves(master);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   259
1003
f7cf194d6979 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1002
diff changeset
   260
            master->slave_count = fsm->slaves_responding;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   261
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   262
            if (!master->slave_count) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   263
                // 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
   264
                master->scan_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   265
                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
   266
                ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   267
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   268
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   269
1005
5af7ab9a98b1 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1003
diff changeset
   270
            size = sizeof(ec_slave_t) * master->slave_count;
5af7ab9a98b1 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1003
diff changeset
   271
            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   272
                EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   273
                        " of slave memory!\n", size);
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   274
                master->slave_count = 0; // TODO avoid retrying scan!
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   275
                master->scan_busy = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   276
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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parents: 1029
diff changeset
   277
                ec_fsm_master_restart(fsm);
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   278
                return;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   279
            }
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   280
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   281
            // init slaves
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   282
            for (i = 0; i < master->slave_count; i++) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   283
                slave = master->slaves + i;
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   284
                ec_slave_init(slave, master, i, i + 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   285
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   286
                // 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
   287
                // unnecesssary process data interruptions
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   288
                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
   289
                    slave->force_config = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   290
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   291
904
ba6f222aa06e Removed some debugging.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   292
            // broadcast clear all station addresses
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   293
            ec_datagram_bwr(datagram, 0x0010, 2);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   294
            EC_WRITE_U16(datagram->data, 0x0000);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   295
            fsm->retries = EC_FSM_RETRIES;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   296
            fsm->state = ec_fsm_master_state_clear_addresses;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   297
            return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   298
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   299
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   300
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   301
    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
   302
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
   303
        // 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
   304
        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
   305
            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
   306
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
   307
            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
   308
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
   309
            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
   310
            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
   311
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
   312
        } 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
   313
            // 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
   314
            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
   315
            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
   316
                    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
   317
            ec_datagram_zero(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
   318
            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
   319
            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
   320
        }
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   321
    } else {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   322
        ec_fsm_master_restart(fsm);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   323
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   324
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   325
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   326
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   327
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   328
/** 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
   329
 *
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   330
 * \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
   331
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   332
int ec_fsm_master_action_process_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   333
        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
   334
        )
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   335
{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   336
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   337
    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
   338
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   339
    // 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
   340
    while (1) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   341
        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
   342
            break;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   343
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   344
        // get first request
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   345
        request = list_entry(master->sii_requests.next,
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   346
                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
   347
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   348
        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
   349
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   350
        // found pending SII write operation. execute it!
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   351
        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
   352
        fsm->sii_request = request;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   353
        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
   354
        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
   355
                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   356
        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
   357
        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
   358
        return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   359
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   360
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   361
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   362
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   363
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   364
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   365
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   366
/** Check for pending register requests and process one.
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   367
 *
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   368
 * \return non-zero, if a register request is processed.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   369
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   370
int ec_fsm_master_action_process_register(
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   371
        ec_fsm_master_t *fsm /**< Master state machine. */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   372
        )
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   373
{
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   374
    ec_master_t *master = fsm->master;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   375
    ec_reg_request_t *request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   376
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   377
    // search the first request to be processed
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   378
    while (!list_empty(&master->reg_requests)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   379
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   380
        // get first request
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   381
        request = list_entry(master->reg_requests.next,
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   382
                ec_reg_request_t, list);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   383
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   384
        request->state = EC_INT_REQUEST_BUSY;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   385
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   386
        // found pending request; process it!
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   387
        EC_SLAVE_DBG(request->slave, 1, "Processing register request, "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   388
                "offset 0x%04x, length %zu...\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   389
                request->offset, request->length);
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   390
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   391
        if (request->length > fsm->datagram->mem_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   392
            EC_MASTER_ERR(master, "Request length (%zu) exceeds maximum "
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   393
                    "datagram size (%zu)!\n", request->length,
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   394
                    fsm->datagram->mem_size);
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   395
            request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   396
            wake_up(&master->reg_queue);
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   397
            continue;
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   398
        }
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   399
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   400
        fsm->reg_request = request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   401
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   402
        if (request->dir == EC_DIR_INPUT) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   403
            ec_datagram_fprd(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   404
                    request->offset, request->length);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   405
            ec_datagram_zero(fsm->datagram);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   406
        } else {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   407
            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   408
                    request->offset, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   409
            memcpy(fsm->datagram->data, request->data, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   410
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   411
        fsm->retries = EC_FSM_RETRIES;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   412
        fsm->state = ec_fsm_master_state_reg_request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   413
        return 1;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   414
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   415
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   416
    return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   417
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   418
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   419
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   420
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   421
/** 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
   422
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   423
 * \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
   424
 */
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   425
int ec_fsm_master_action_process_sdo(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   426
        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
   427
        )
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
    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
   430
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   431
    ec_sdo_request_t *req;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   432
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   433
    // 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
   434
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   435
            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
   436
            slave++) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   437
        if (!slave->config)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   438
            continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   439
        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
   440
            if (req->state == EC_INT_REQUEST_QUEUED) {
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   441
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   442
                if (ec_sdo_request_timed_out(req)) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   443
                    req->state = EC_INT_REQUEST_FAILURE;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   444
                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   445
                            " timed out.\n");
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   446
                    continue;
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   447
                }
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   448
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   449
                if (slave->current_state == EC_SLAVE_STATE_INIT) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   450
                    req->state = EC_INT_REQUEST_FAILURE;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   451
                    continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   452
                }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   453
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   454
                req->state = EC_INT_REQUEST_BUSY;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   455
                EC_SLAVE_DBG(slave, 1, "Processing internal"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   456
                        " SDO request...\n");
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   457
                fsm->idle = 0;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   458
                fsm->sdo_request = req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   459
                fsm->slave = slave;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   460
                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
   461
                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   462
                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   463
                return 1;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   464
            }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   465
        }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   466
    }
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   467
    return 0;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   468
}
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   469
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   470
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   471
/*****************************************************************************/
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   472
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   473
/** Master action: IDLE.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   474
 *
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   475
 * Does secondary work.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   476
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   477
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
   478
        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
   479
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   480
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   481
    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
   482
    ec_slave_t *slave;
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   483
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   484
    // Check for pending internal SDO requests
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   485
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   486
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   487
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1830
diff changeset
   488
    // enable processing of requests
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   489
    for (slave = master->slaves;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   490
            slave < master->slaves + master->slave_count;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   491
            slave++) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   492
        ec_fsm_slave_ready(&slave->fsm);
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   493
    }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   494
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
   495
    // 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
   496
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   497
            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
   498
            slave++) {
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   499
        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
   500
                || (slave->sii.has_general
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   501
                    && !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
   502
                || 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
   503
                || 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
   504
                || 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
   505
                || 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
   506
                ) 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
   507
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   508
        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
   509
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   510
        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
   511
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   512
        // 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
   513
        fsm->idle = 0;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   514
        fsm->slave = slave;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   515
        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
   516
        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   517
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   518
        return;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   519
    }
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   520
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   521
    // check for pending SII write operations.
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   522
    if (ec_fsm_master_action_process_sii(fsm))
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   523
        return; // SII write request found
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   524
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   525
    // check for pending register requests.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   526
    if (ec_fsm_master_action_process_register(fsm))
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   527
        return; // register request processing
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   528
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   529
    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
   530
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   531
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   532
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   533
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   534
/** Master action: Get state of next slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   535
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   536
void ec_fsm_master_action_next_slave_state(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   537
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   538
        )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   539
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   540
    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
   541
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   542
    // 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
   543
    fsm->slave++;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   544
    if (fsm->slave < master->slaves + master->slave_count) {
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   545
        // fetch state from next slave
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   546
        fsm->idle = 1;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   547
        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
   548
                fsm->slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   549
        ec_datagram_zero(fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   550
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   551
        fsm->state = ec_fsm_master_state_read_state;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   552
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   553
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   554
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   555
    // all slaves processed
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   556
    ec_fsm_master_action_idle(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   557
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   558
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
/** Master action: Configure.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   562
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   563
void ec_fsm_master_action_configure(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   564
        ec_fsm_master_t *fsm /**< Master state machine. */
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
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   568
    ec_slave_t *slave = fsm->slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   569
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   570
    // 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
   571
    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
   572
                || slave->force_config) && !slave->error_flag) {
1177
03d9640c9ce4 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   573
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   574
        // Start slave configuration, if it is allowed.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   575
        down(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   576
        if (!master->allow_config) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   577
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   578
        } else {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   579
            master->config_busy = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   580
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   581
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   582
            if (master->debug_level) {
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   583
                char old_state[EC_STATE_STRING_SIZE],
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   584
                     new_state[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   585
                ec_state_string(slave->current_state, old_state, 0);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   586
                ec_state_string(slave->requested_state, new_state, 0);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   587
                EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   588
                        old_state, new_state,
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   589
                        slave->force_config ? " (forced)" : "");
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   590
            }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   591
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   592
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   593
            fsm->state = ec_fsm_master_state_configure_slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   594
            ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   595
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   596
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   597
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   598
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   599
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   600
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   601
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   602
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   603
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   604
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   605
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   606
/** 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
   607
 *
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   608
 * 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
   609
 */
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   610
void ec_fsm_master_state_read_state(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   611
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   612
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   613
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   614
    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
   615
    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
   616
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   617
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   618
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   619
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   620
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   621
        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
   622
        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
   623
        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
   624
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   625
    }
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
    // 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
   628
    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
   629
        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
   630
            slave->error_flag = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   631
            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
   632
        }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   633
        fsm->topology_change_pending = 1;
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   634
        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
   635
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   636
    }
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
    // 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
   639
    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
   640
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   641
    if (!slave->error_flag) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   642
        // Check, if new slave state has to be acknowledged
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   643
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   644
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   645
            fsm->state = ec_fsm_master_state_acknowledge;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   646
            ec_fsm_change_ack(&fsm->fsm_change, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   647
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   648
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   649
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   650
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   651
        // No acknowlegde necessary; check for configuration
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   652
        ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   653
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   654
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   655
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   656
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   657
    ec_fsm_master_action_next_slave_state(fsm);
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
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   660
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   661
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   662
/** Master state: ACKNOWLEDGE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   663
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   664
void ec_fsm_master_state_acknowledge(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   665
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   666
        )
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   667
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   668
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   669
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   670
    if (ec_fsm_change_exec(&fsm->fsm_change))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   671
        return;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   672
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   673
    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
   674
        fsm->slave->error_flag = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   675
        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
   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
    ec_fsm_master_action_configure(fsm);
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
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
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   683
/** Master state: CLEAR ADDRESSES.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   684
 */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   685
void ec_fsm_master_state_clear_addresses(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   686
        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
   687
        )
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   688
{
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   689
    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
   690
    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
   691
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   692
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   693
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   694
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   695
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   696
        EC_MASTER_ERR(master, "Failed to receive address"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   697
                " clearing datagram: ");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   698
        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
   699
        master->scan_busy = 0;
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   700
        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
   701
        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
   702
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   703
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   704
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   705
    if (datagram->working_counter != master->slave_count) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   706
        EC_MASTER_WARN(master, "Failed to clear all station addresses:"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   707
                " Cleared %u of %u",
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   708
                datagram->working_counter, master->slave_count);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   709
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   710
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   711
    EC_MASTER_DBG(master, 1, "Sending broadcast-write"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   712
            " to measure transmission delays.\n");
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   713
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   714
    ec_datagram_bwr(datagram, 0x0900, 1);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   715
    ec_datagram_zero(datagram);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   716
    fsm->retries = EC_FSM_RETRIES;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   717
    fsm->state = ec_fsm_master_state_dc_measure_delays;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   718
}
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   719
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   720
/*****************************************************************************/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   721
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   722
/** Master state: DC MEASURE DELAYS.
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   723
 */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   724
void ec_fsm_master_state_dc_measure_delays(
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   725
        ec_fsm_master_t *fsm /**< Master state machine. */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   726
        )
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   727
{
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   728
    ec_master_t *master = fsm->master;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   729
    ec_datagram_t *datagram = fsm->datagram;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   730
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   731
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   732
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   733
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   734
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   735
        EC_MASTER_ERR(master, "Failed to receive delay measuring datagram: ");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   736
        ec_datagram_print_state(datagram);
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   737
        master->scan_busy = 0;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   738
        wake_up_interruptible(&master->scan_queue);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   739
        ec_fsm_master_restart(fsm);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   740
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   741
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   742
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   743
    EC_MASTER_DBG(master, 1, "%u slaves responded to delay measuring.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   744
            datagram->working_counter);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   745
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   746
    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
   747
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   748
    // 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
   749
    fsm->slave = master->slaves;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   750
    fsm->state = ec_fsm_master_state_scan_slave;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   751
    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
   752
    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   753
}
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   754
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   755
/*****************************************************************************/
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   756
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   757
/** Master state: SCAN SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   758
 *
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   759
 * 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
   760
 */
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   761
void ec_fsm_master_state_scan_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   762
        ec_fsm_master_t *fsm /**< Master state machine. */
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   763
        )
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   764
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   765
    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
   766
#ifdef EC_EOE
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   767
    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
   768
#endif
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   769
    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   770
        return;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   771
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   772
#ifdef EC_EOE
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   773
    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
   774
        // create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   775
        ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   776
        if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   777
            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
   778
        } else if (ec_eoe_init(eoe, slave)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   779
            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
   780
            kfree(eoe);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   781
        } else {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   782
            list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   783
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   784
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   785
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   786
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   787
    // 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
   788
    fsm->slave++;
1002
0e1aaeb3540d Fixed bug in slave scanning, causing a segmentation fault.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   789
    if (fsm->slave < master->slaves + master->slave_count) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   790
        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
   791
        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   792
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   793
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   794
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1927
diff changeset
   795
    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
   796
            (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   797
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   798
    master->scan_busy = 0;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   799
    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
   800
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   801
    ec_master_calc_dc(master);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1444
diff changeset
   802
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   803
    // Attach slave configurations
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   804
    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
   805
716
ac2a81a33d3d Minor fix.
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   806
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   807
    // check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   808
    ec_master_eoe_start(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   809
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   810
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
   811
    if (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
   812
        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
   813
        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
   814
    } 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
   815
        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
   816
    }
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   818
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   821
/** Master state: CONFIGURE SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   822
 *
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   823
 * Starts configuring a slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   824
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   825
void ec_fsm_master_state_configure_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   826
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   827
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   828
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   829
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   830
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   831
    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   832
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   833
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
   834
    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
   835
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   836
    // configuration finished
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   837
    master->config_busy = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   838
    wake_up_interruptible(&master->config_queue);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   839
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   840
    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
   841
        // 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
   842
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   843
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   844
    fsm->idle = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   845
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   846
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   847
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   848
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   849
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
   850
/** 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
   851
 */
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
   852
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
   853
        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
   854
        )
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
   855
{
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
   856
    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
   857
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
   858
    EC_MASTER_DBG(master, 1, "Writing system time offsets...\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
   859
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
   860
    if (master->has_app_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
   861
        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
   862
            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
   863
                    || !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
   864
                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
   865
                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
   866
            }
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
   867
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
   868
            // 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
   869
            //                         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
   870
            //     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
   871
            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
   872
                    0x0910, 24);
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
            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
   874
            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
   875
            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
   876
        }
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
    } 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
   878
        EC_MASTER_DBG(master, 1, "No app_time received up to now.\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
   879
    }
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
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
   881
    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
   882
    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
   883
}
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
   884
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
   885
/*****************************************************************************/
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
   886
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
   887
/** Configure 32 bit 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
   888
 */
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
   889
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
   890
        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
   891
        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
   892
        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
   893
        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
   894
        )
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
   895
{
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
   896
    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
   897
    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
   898
    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
   899
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
   900
    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
   901
    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
   902
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
   903
    // 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
   904
    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
   905
    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
   906
    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
   907
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
   908
    EC_SLAVE_DBG(slave, 1, "DC system time offset calculation:"
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
   909
            " system_time=%u (corrected with %u),"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1927
diff changeset
   910
            " 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
   911
            system_time32, correction,
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1927
diff changeset
   912
            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
   913
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
   914
    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
   915
        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
   916
        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
   917
                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
   918
        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
   919
    } 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
   920
        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
   921
        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
   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
}
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
   924
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
/*****************************************************************************/
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
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
/** Configure 64 bit 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
   928
 */
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
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
   930
        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
   931
        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
   932
        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
   933
        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
   934
        )
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
{
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
    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
   937
    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
   938
    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
   939
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
    // 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
   941
    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
   942
    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
   943
    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
   944
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
    EC_SLAVE_DBG(slave, 1, "DC system time offset calculation:"
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
   946
            " 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
   947
            " 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
   948
            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
   949
            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
   950
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
   951
    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
   952
        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
   953
        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
   954
                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
   955
    } 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
   956
        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
   957
        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
   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
    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
   961
}
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
   962
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
   963
/*****************************************************************************/
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
/** 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
   966
 */
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
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
   968
        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
   969
        )
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
    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
   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
    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
   974
    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
   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
    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
   977
        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
   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
    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
   980
        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
   981
        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
   982
        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
   983
        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
   984
        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
   985
    }
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
   986
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
    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
   988
        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
   989
        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
   990
        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
   991
        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
   992
        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
   993
    }
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
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
    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
   996
    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
   997
    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
   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
    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
  1000
        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
  1001
                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
  1002
    } 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
  1003
        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
  1004
                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
  1005
    }
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
    // 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
  1008
    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
  1009
    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
  1010
    EC_WRITE_U32(datagram->data + 8, slave->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
  1011
    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
  1012
    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
  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
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
/*****************************************************************************/
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
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
/** 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
  1018
 */
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
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
  1020
        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
  1021
        )
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
{
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
  1023
    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
  1024
    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
  1025
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
    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
  1027
        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
  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 (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
  1030
        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
  1031
                "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
  1032
        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
  1033
        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
  1034
        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
  1035
        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
  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
    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
  1039
        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
  1040
        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
  1041
        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
  1042
        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
  1043
        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
  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
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
    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
  1047
    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
  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
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
/*****************************************************************************/
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
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1052
/** Master state: WRITE SII.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1053
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1054
void ec_fsm_master_state_write_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1055
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1056
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1057
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1058
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1059
    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
  1060
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1061
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1062
    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
  1063
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1064
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1065
        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
  1066
        request->state = EC_INT_REQUEST_FAILURE;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1067
        wake_up(&master->sii_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1068
        ec_fsm_master_restart(fsm);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1069
        return;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1070
    }
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1071
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1072
    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
  1073
    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
  1074
        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
  1075
                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
  1076
                request->words + fsm->sii_index,
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1077
                EC_FSM_SII_USE_CONFIGURED_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1078
        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
  1079
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1080
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1081
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1082
    // finished writing SII
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1083
    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
  1084
            request->nwords);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1085
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1086
    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
  1087
        // alias was written
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1088
        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
  1089
        // 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
  1090
        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
  1091
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
  1092
    // 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
  1093
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1094
    request->state = EC_INT_REQUEST_SUCCESS;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1095
    wake_up(&master->sii_queue);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1096
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1097
    // check for another SII write request
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1098
    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
  1099
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1100
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1101
    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
  1102
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1103
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1104
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1105
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1106
/** Master state: SDO DICTIONARY.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1107
 */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
  1108
void ec_fsm_master_state_sdo_dictionary(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1109
        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
  1110
        )
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1111
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1112
    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
  1113
    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
  1114
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1115
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1116
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1117
    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
  1118
        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
  1119
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1120
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1121
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1122
    // 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
  1123
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1124
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1125
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1126
        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
  1127
        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
  1128
               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
  1129
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1130
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1131
    // attach pdo names from dictionary
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1132
    ec_slave_attach_pdo_names(slave);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1133
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1134
    ec_fsm_master_restart(fsm);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1135
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1136
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1137
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1138
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1139
/** Master state: SDO REQUEST.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1140
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1141
void ec_fsm_master_state_sdo_request(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1142
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1143
        )
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1144
{
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
  1145
    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
  1146
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1147
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1148
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1149
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1150
        EC_SLAVE_DBG(fsm->slave, 1,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1151
                "Failed to process internal SDO request.\n");
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1152
        request->state = EC_INT_REQUEST_FAILURE;
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1153
        wake_up(&fsm->slave->sdo_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1154
        ec_fsm_master_restart(fsm);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1155
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1156
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1157
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1158
    // SDO request finished
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1159
    request->state = EC_INT_REQUEST_SUCCESS;
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1160
    wake_up(&fsm->slave->sdo_queue);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1161
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1162
    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
  1163
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1164
    // check for another SDO request
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1165
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1166
        return; // processing another request
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1167
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1168
    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
  1169
}
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1170
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1171
/*****************************************************************************/
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1172
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1173
/** Master state: REG REQUEST.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1174
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1175
void ec_fsm_master_state_reg_request(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1176
        ec_fsm_master_t *fsm /**< Master state machine. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1177
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1178
{
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1179
    ec_master_t *master = fsm->master;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1180
    ec_datagram_t *datagram = fsm->datagram;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1181
    ec_reg_request_t *request = fsm->reg_request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1182
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1183
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1184
        EC_MASTER_ERR(master, "Failed to receive register"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1185
                " request datagram: ");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1186
        ec_datagram_print_state(datagram);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1187
        request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1188
        wake_up(&master->reg_queue);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1189
        ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1190
        return;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1191
    }
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
  1192
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1193
    if (datagram->working_counter == 1) {
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1194
        if (request->dir == EC_DIR_INPUT) { // read request
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1195
            if (request->data)
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1196
                kfree(request->data);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1197
            request->data = kmalloc(request->length, GFP_KERNEL);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1198
            if (!request->data) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1199
                EC_MASTER_ERR(master, "Failed to allocate %zu bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1200
                        " of memory for register data.\n", request->length);
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1201
                request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1202
                wake_up(&master->reg_queue);
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1203
                ec_fsm_master_restart(fsm);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1204
                return;
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1205
            }
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1206
            memcpy(request->data, datagram->data, request->length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1207
        }
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1208
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1209
        request->state = EC_INT_REQUEST_SUCCESS;
1927
365a90e93161 Fixed NULL pointer dereference caused by wrong usage of DBG macro.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1210
        EC_SLAVE_DBG(request->slave, 1, "Register request successful.\n");
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1211
    } else {
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1212
        request->state = EC_INT_REQUEST_FAILURE;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1213
        EC_MASTER_ERR(master, "Register request failed.\n");
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1214
    }
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1215
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1216
    wake_up(&master->reg_queue);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1217
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1218
    // check for another register request
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1219
    if (ec_fsm_master_action_process_register(fsm))
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1220
        return; // processing another request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1221
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1222
    ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1223
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1224
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1225
/*****************************************************************************/