etherlabmaster: master/fsm_slave_config.c@7539329b5cf6 (annotated)

830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1318 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1347 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	30	/** \file
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	31	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	32	* EtherCAT slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	33	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	37	#include <asm/div64.h>
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	38
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "globals.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "master.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "mailbox.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "fsm_slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	50	void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	51	void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	52	void ec_fsm_slave_config_state_dc_read_offset(ec_fsm_slave_config_t *);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	53	void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	55	void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	57	void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	58	void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	59	void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	60	void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	61	void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	63	void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	64	void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	65	void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	69	void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	70	void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	71	void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	73	void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	75	void ec_fsm_slave_config_enter_soe_conf(ec_fsm_slave_config_t *);
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	76	void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	77	void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	78	void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	79	void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	81	void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	86
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	87	void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	88
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	90
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	/** Constructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	93	void ec_fsm_slave_config_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	94	ec_fsm_slave_config_t fsm, /< slave state machine /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	95	ec_datagram_t datagram, /< datagram structure to use /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	96	ec_fsm_change_t fsm_change, /< State change state machine to use. /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	97	ec_fsm_coe_t fsm_coe, /< CoE state machine to use. /
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	98	ec_fsm_pdo_t fsm_pdo /< PDO configuration state machine to use. /
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	{
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	101	ec_sdo_request_init(&fsm->request_copy);
1849 0a660edc7180 Fixed segfault - Initialize SoE request properly. Florian Pose <fp@igh-essen.com> parents: 1844 diff changeset	102	ec_soe_request_init(&fsm->soe_request_copy);
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	103
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	fsm->datagram = datagram;
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	105	fsm->fsm_change = fsm_change;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	106	fsm->fsm_coe = fsm_coe;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	107	fsm->fsm_pdo = fsm_pdo;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	109
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	111
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	/** Destructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	114	void ec_fsm_slave_config_clear(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	115	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	116	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	{
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	118	ec_sdo_request_clear(&fsm->request_copy);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	119	ec_soe_request_clear(&fsm->soe_request_copy);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	121
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	123
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	124	/** Start slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	125	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	126	void ec_fsm_slave_config_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	127	ec_fsm_slave_config_t fsm, /< slave state machine /
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	ec_slave_t slave /< slave to configure /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	fsm->slave = slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	fsm->state = ec_fsm_slave_config_state_start;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	134
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	136
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	138	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	139	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	140	int ec_fsm_slave_config_running(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	141	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	142	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	return fsm->state != ec_fsm_slave_config_state_end
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	&& fsm->state != ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	147
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	149
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	150	/** Executes the current state of the state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	151	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	152	* If the state machine's datagram is not sent or received yet, the execution
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	153	* of the state machine is delayed to the next cycle.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	154	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	155	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	156	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	157	int ec_fsm_slave_config_exec(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	158	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	159	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	if (fsm->datagram->state == EC_DATAGRAM_SENT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	\|\| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	// datagram was not sent or received yet.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	166
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	fsm->state(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	170
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	172
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	174	* \return true, if the state machine terminated gracefully
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	175	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	176	int ec_fsm_slave_config_success(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	177	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	178	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	return fsm->state == ec_fsm_slave_config_state_end;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	182
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	* Slave configuration state machine
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	186
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	187	/** Slave configuration state: START.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	188	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	189	void ec_fsm_slave_config_state_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	190	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	191	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	if (fsm->slave->master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	194	EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	}
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	196
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	197	ec_fsm_slave_config_enter_init(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	198	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	199
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	200	/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	201
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	202	/** Start state change to INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	203	*/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	204	void ec_fsm_slave_config_enter_init(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	205	ec_fsm_slave_config_t fsm /< slave state machine /
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	206	)
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	207	{
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	208	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	209	ec_fsm_change_exec(fsm->fsm_change);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	fsm->state = ec_fsm_slave_config_state_init;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	212
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	214
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	215	/** Slave configuration state: INIT.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	216	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	217	void ec_fsm_slave_config_state_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	218	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	219	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	224
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	225	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	226
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	227	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	228	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	233
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	235	EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	237
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	if (!slave->base_fmmu_count) { // skip FMMU configuration
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	239	ec_fsm_slave_config_enter_clear_sync(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	242
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	if (master->debug_level)
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	244	EC_DBG("Clearing FMMU configurations of slave %u...\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	246
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	// clear FMMU configurations
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	250	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	fsm->state = ec_fsm_slave_config_state_clear_fmmus;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	254
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	256
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	257	/** Slave configuration state: CLEAR FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	258	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	259	void ec_fsm_slave_config_state_clear_fmmus(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	260	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	261	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	264
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	267
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	270	EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	274
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	278	EC_ERR("Failed to clear FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	283
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	284	ec_fsm_slave_config_enter_clear_sync(fsm);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	285	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	286
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	287	/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	288
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	289	/** Clear the sync manager configurations.
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	290	*/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	291	void ec_fsm_slave_config_enter_clear_sync(
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	292	ec_fsm_slave_config_t fsm /< slave state machine /
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	293	)
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	294	{
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	295	ec_slave_t *slave = fsm->slave;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	296	ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	297	size_t sync_size;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	298
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	299	if (!slave->base_sync_count) {
1404 b7ea043d5081 Minor changes. Florian Pose <fp@igh-essen.com> parents: 1396 diff changeset	300	// no sync managers
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	301	ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	302	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	303	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	304
1344 e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	305	if (slave->master->debug_level)
e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	306	EC_DBG("Clearing sync manager configurations of slave %u...\n",
e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	307	slave->ring_position);
e5756d4ed12c Debug message. Florian Pose <fp@igh-essen.com> parents: 1342 diff changeset	308
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	309	sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
1342 a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	310
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	311	// clear sync manager configurations
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	312	ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	313	memset(datagram->data, 0x00, sync_size);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	314	fsm->retries = EC_FSM_RETRIES;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	315	fsm->state = ec_fsm_slave_config_state_clear_sync;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	316	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	317
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	318	/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	319
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	320	/** Slave configuration state: CLEAR SYNC.
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	321	*/
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	322	void ec_fsm_slave_config_state_clear_sync(
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	323	ec_fsm_slave_config_t fsm /< slave state machine /
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	324	)
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	325	{
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	326	ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	327
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	328	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	329	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	330
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	331	if (datagram->state != EC_DATAGRAM_RECEIVED) {
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	332	fsm->state = ec_fsm_slave_config_state_error;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	333	EC_ERR("Failed receive sync manager clearing datagram"
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	334	" for slave %u.\n", fsm->slave->ring_position);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	335	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	336	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	337
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	338	if (datagram->working_counter != 1) {
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	339	fsm->slave->error_flag = 1;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	340	fsm->state = ec_fsm_slave_config_state_error;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	341	EC_ERR("Failed to clear sync manager configurations of slave %u: ",
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	342	fsm->slave->ring_position);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	343	ec_datagram_print_wc_error(datagram);
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	344	return;
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	345	}
a72b9b370277 Clear sync managers before configuration. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	346
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	347	ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	348	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	349
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	350	/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	351
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	352	/** Clear the DC assignment.
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	353	*/
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	354	void ec_fsm_slave_config_enter_dc_clear_assign(
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	355	ec_fsm_slave_config_t fsm /< slave state machine /
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	356	)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	357	{
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	358	ec_slave_t *slave = fsm->slave;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	359	ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	360
1419 8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph. Florian Pose <fp@igh-essen.com> parents: 1412 diff changeset	361	if (!slave->base_dc_supported \|\| !slave->has_dc_system_time) {
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	362	ec_fsm_slave_config_enter_mbox_sync(fsm);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	363	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	364	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	365
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	366	if (slave->master->debug_level)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	367	EC_DBG("Clearing DC assignment of slave %u...\n",
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	368	slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	369
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	370	ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	371	ec_datagram_zero(datagram);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	372	fsm->retries = EC_FSM_RETRIES;
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	373	fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	374	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	375
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	376	/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	377
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	378	/** Slave configuration state: CLEAR DC ASSIGN.
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	379	*/
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	380	void ec_fsm_slave_config_state_dc_clear_assign(
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	381	ec_fsm_slave_config_t fsm /< slave state machine /
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	382	)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	383	{
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	384	ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	385
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	386	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	387	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	388
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	389	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	390	fsm->state = ec_fsm_slave_config_state_error;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	391	EC_ERR("Failed receive DC assignment clearing datagram"
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	392	" for slave %u.\n", fsm->slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	393	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	394	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	395
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	396	if (fsm->slave->master->debug_level && datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	397	// clearing the DC assignment does not succeed on simple slaves
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	398	EC_DBG("Failed to clear DC assignment of slave %u: ",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	399	fsm->slave->ring_position);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	400	ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	401	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	402
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	403	// read DC system time and system time offset
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	404	ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0910, 24);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	405	fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	406	fsm->state = ec_fsm_slave_config_state_dc_read_offset;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	407	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	408
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	409	/*****************************************************************************/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	410
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	411	/** Slave configuration state: DC READ OFFSET.
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	412	*/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	413	void ec_fsm_slave_config_state_dc_read_offset(
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	414	ec_fsm_slave_config_t fsm /< slave state machine /
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	415	)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	416	{
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	417	ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	418	ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	419	u64 system_time, old_offset, new_offset;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	420
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	421	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	422	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	423
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	424	if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	425	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	426	EC_ERR("Failed to receive DC times datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	427	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	428	ec_datagram_print_state(datagram);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	429	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	430	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	431
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	432	if (datagram->working_counter != 1) {
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	433	slave->error_flag = 1;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	434	fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	435	EC_ERR("Failed to get DC times of slave %u: ",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	436	slave->ring_position);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	437	ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	438	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	439	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	440
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	441	system_time = EC_READ_U64(datagram->data);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	442	old_offset = EC_READ_U64(datagram->data + 16);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	443	new_offset = slave->master->app_time - system_time + old_offset;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	444
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	445	if (slave->master->debug_level)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	446	EC_DBG("Slave %u: DC system_time=%llu old_offset=%llu, "
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	447	"app_time=%llu, new_offset=%llu\n",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	448	slave->ring_position, system_time, old_offset,
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	449	slave->master->app_time, new_offset);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	450
1430 97ab86a9b1d7 Set system time transmission delay during config. Florian Pose <fp@igh-essen.com> parents: 1419 diff changeset	451	// set DC system time offset and transmission delay
97ab86a9b1d7 Set system time transmission delay during config. Florian Pose <fp@igh-essen.com> parents: 1419 diff changeset	452	ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	453	EC_WRITE_U64(datagram->data, new_offset);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1491 diff changeset	454	EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	455	fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	456	fsm->state = ec_fsm_slave_config_state_dc_write_offset;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	457	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	458
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	459	/*****************************************************************************/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	460
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	461	/** Slave configuration state: DC WRITE OFFSET.
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	462	*/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	463	void ec_fsm_slave_config_state_dc_write_offset(
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	464	ec_fsm_slave_config_t fsm /< slave state machine /
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	465	)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	466	{
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	467	ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	468	ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	469
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	470	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	471	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	472
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	473	if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	474	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	475	EC_ERR("Failed to receive DC system time offset datagram for"
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	476	" slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	477	ec_datagram_print_state(datagram);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	478	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	479	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	480
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	481	if (datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	482	slave->error_flag = 1;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	483	fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	484	EC_ERR("Failed to set DC system time offset of slave %u: ",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	485	slave->ring_position);
1406 8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	486	ec_datagram_print_wc_error(datagram);
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	487	return;
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	488	}
8686c5b3d14b Clear DC assignment after going to INIT. Florian Pose <fp@igh-essen.com> parents: 1404 diff changeset	489
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	490	ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	491	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	492
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	494
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	495	/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	496	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	498	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	499	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	502	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	503	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	504	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	505
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	506	// slave is now in INIT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	507	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	508	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	509	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	510	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	511	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	512	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	513	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	514	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	515
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	516	if (!slave->sii.mailbox_protocols) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	517	// no mailbox protocols supported
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	518	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	519	EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	520	slave->ring_position);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	521	ec_fsm_slave_config_enter_boot_preop(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	524
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	525	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	526	EC_DBG("Configuring mailbox sync managers of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	527	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	528	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	529
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	530	if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	531	ec_sync_t sync;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	532
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	533	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	534	EC_SYNC_PAGE_SIZE * 2);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	535	memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	536
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	537	ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	538	sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	539	sync.control_register = 0x26;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	540	sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	541	ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	542	EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	543	datagram->data);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	544	slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	545	slave->sii.boot_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	546	slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	547	slave->sii.boot_rx_mailbox_size;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	548
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	549	ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	550	sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	551	sync.control_register = 0x22;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	552	sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	553	ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	554	EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	555	datagram->data + EC_SYNC_PAGE_SIZE);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	556	slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	557	slave->sii.boot_tx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	558	slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	559	slave->sii.boot_tx_mailbox_size;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	560
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	561	} else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	562	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	563	EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	564	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	565
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	566	for (i = 0; i < 2; i++) {
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	567	ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	568	slave->sii.syncs[i].default_length,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	569	NULL, // use default sync manager configuration
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	570	datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	571	}
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	572
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	573	slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	574	slave->sii.syncs[0].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	575	slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	576	slave->sii.syncs[0].default_length;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	577	slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	578	slave->sii.syncs[1].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	579	slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	580	slave->sii.syncs[1].default_length;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	581	} else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	582	ec_sync_t sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	583
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	584	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	586	" mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	587	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	588
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	589	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	590	EC_SYNC_PAGE_SIZE * 2);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	591	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	592
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	593	ec_sync_init(&sync, slave);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	594	sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	595	sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	596	sync.enable = 1;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	597	ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	598	NULL, // use default sync manager configuration
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	599	datagram->data);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	600	slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	601	slave->sii.std_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	602	slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	603	slave->sii.std_rx_mailbox_size;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	604
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	605	ec_sync_init(&sync, slave);
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	606	sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	607	sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	608	sync.enable = 1;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	609	ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	610	NULL, // use default sync manager configuration
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	611	datagram->data + EC_SYNC_PAGE_SIZE);
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	612	slave->configured_tx_mailbox_offset =
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	613	slave->sii.std_tx_mailbox_offset;
1338 eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size\|offset) members of slave. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	614	slave->configured_tx_mailbox_size =
1471 2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager Florian Pose <fp@igh-essen.com> parents: 1458 diff changeset	615	slave->sii.std_tx_mailbox_size;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	616	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	617
1347 41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	618	fsm->take_time = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	619
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	620	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	621	fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	623
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	624	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	625
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	626	/** Slave configuration state: SYNC.
1345 b715e719eeea TODO. Florian Pose <fp@igh-essen.com> parents: 1344 diff changeset	627	*
b715e719eeea TODO. Florian Pose <fp@igh-essen.com> parents: 1344 diff changeset	628	* \todo Timeout for response.
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	629	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	630	void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	631	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	632	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	633	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	634	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	635	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	636
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	638	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	639
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	640	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	641	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	642	EC_ERR("Failed to receive sync manager configuration datagram for"
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	643	" slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	644	ec_datagram_print_state(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	645	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	646	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	647
1347 41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	648	if (fsm->take_time) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	649	fsm->take_time = 0;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	650	fsm->jiffies_start = datagram->jiffies_sent;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	651	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	652
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	653	/* Because the sync manager configurations are cleared during the last
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	654	* cycle, some slaves do not immediately respond to the mailbox sync
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	655	* manager configuration datagram. Therefore, resend the datagram for
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	656	* a certain time, if the slave does not respond.
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	657	*/
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	658	if (datagram->working_counter == 0) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	659	unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	660
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	661	if (diff >= HZ) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	662	slave->error_flag = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	663	fsm->state = ec_fsm_slave_config_state_error;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	664	EC_ERR("Timeout while configuring mailbox sync managers of"
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	665	" slave %u.\n", slave->ring_position);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	666	return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	667	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	668	else if (slave->master->debug_level) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	669	EC_DBG("Resending after %u ms...\n",
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	670	(unsigned int) diff * 1000 / HZ);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	671	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	672
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	673	// send configuration datagram again
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	674	fsm->retries = EC_FSM_RETRIES;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	675	return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	676	}
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration Florian Pose <fp@igh-essen.com> parents: 1345 diff changeset	677	else if (datagram->working_counter != 1) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	678	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	679	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	680	EC_ERR("Failed to set sync managers of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	681	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	682	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	684	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	685
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	686	ec_fsm_slave_config_enter_boot_preop(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	687	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	688
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	689	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	690
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	691	/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	692	*/
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	693	void ec_fsm_slave_config_enter_boot_preop(
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	694	ec_fsm_slave_config_t fsm /< slave state machine /
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	695	)
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	696	{
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	697	fsm->state = ec_fsm_slave_config_state_boot_preop;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	698
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	699	if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	700	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	701	} else { // BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	702	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	703	}
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	704
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	705	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	706	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	707
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	708	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	709
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	710	/** Slave configuration state: BOOT/PREOP.
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	711	*/
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	712	void ec_fsm_slave_config_state_boot_preop(
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	713	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	714	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	715	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	716	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	717	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	718
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	719	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	720
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	721	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	722	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	723	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	724	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	725	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	726	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	727
1404 b7ea043d5081 Minor changes. Florian Pose <fp@igh-essen.com> parents: 1396 diff changeset	728	// slave is now in BOOT or PREOP
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	729	slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	730
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	731	if (master->debug_level) {
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	732	EC_DBG("Slave %u is now in %s.\n", slave->ring_position,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	733	slave->requested_state != EC_SLAVE_STATE_BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	734	? "PREOP" : "BOOT");
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	735	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	736
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	737	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	738	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	if (master->debug_level) {
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	740	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	741	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	742	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	743	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	744	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	745
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	746	ec_fsm_slave_config_enter_sdo_conf(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	747	}
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	748
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	749	/*****************************************************************************/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	750
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	751	/** Check for SDO configurations to be applied.
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	752	*/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	753	void ec_fsm_slave_config_enter_sdo_conf(
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	754	ec_fsm_slave_config_t fsm /< slave state machine /
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	755	)
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	756	{
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	757	ec_slave_t *slave = fsm->slave;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	758
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	759	if (!slave->config) {
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	760	ec_fsm_slave_config_enter_pdo_sync(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	761	return;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	762	}
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	763
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	764	// No CoE configuration to be applied?
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	765	if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	766	ec_fsm_slave_config_enter_soe_conf(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	767	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	768	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	769
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	770	// start SDO configuration
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	771	fsm->state = ec_fsm_slave_config_state_sdo_conf;
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	772	fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	773	ec_sdo_request_t, list);
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	774	ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	775	ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	776	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	777	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	778	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	779
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	781
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	782	/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	783	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	784	void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	785	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	786	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	{
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	788	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	789
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	790	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	791	EC_ERR("SDO configuration failed for slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	792	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	793	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	794	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	795	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	796	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	797
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	798	if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	799	ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	800	return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	801	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	802
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	803	// Another SDO to configure?
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	804	if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	805	fsm->request = list_entry(fsm->request->list.next,
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	806	ec_sdo_request_t, list);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	807	ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	808	ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	809	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	810	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	811	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	812	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	813
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	814	// All SDOs are now configured.
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	815	ec_fsm_slave_config_enter_soe_conf(fsm);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	816	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	817
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	818	/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	819
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	820	/** Check for SoE configurations to be applied.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	821	*/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	822	void ec_fsm_slave_config_enter_soe_conf(
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	823	ec_fsm_slave_config_t fsm /< slave state machine /
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	824	)
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	825	{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	826	ec_slave_t *slave = fsm->slave;
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	827	ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	828
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	829	if (!slave->config) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	830	ec_fsm_slave_config_enter_pdo_sync(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	831	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	832	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	833
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	834	// No SoE configuration to be applied?
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	835	if (list_empty(&slave->config->soe_configs)) { // skip configuration
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	836	ec_fsm_slave_config_enter_pdo_conf(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	837	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	838	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	839
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	840	// start SoE configuration
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	841	fsm->state = ec_fsm_slave_config_state_soe_conf;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	842	fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	843	ec_soe_request_t, list);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	844	ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	845	ec_soe_request_write(&fsm->soe_request_copy);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	846	ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	847	ec_fsm_soe_exec(fsm_soe); // execute immediately
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	848	ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	849	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	850
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	851	/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	852
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	853	/** Slave configuration state: SOE_CONF.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	854	*/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	855	void ec_fsm_slave_config_state_soe_conf(
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	856	ec_fsm_slave_config_t fsm /< slave state machine /
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	857	)
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	858	{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	859	ec_slave_t *slave = fsm->slave;
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	860	ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	861
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	862	if (ec_fsm_soe_exec(fsm_soe)) {
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	863	ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	864	return;
219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	865	}
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	866
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	867	if (!ec_fsm_soe_success(fsm_soe)) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	868	EC_ERR("SoE configuration failed for slave %u.\n",
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	869	fsm->slave->ring_position);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	870	fsm->slave->error_flag = 1;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	871	fsm->state = ec_fsm_slave_config_state_error;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	872	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	873	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	874
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	875	if (!fsm->slave->config) { // config removed in the meantime
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	876	ec_fsm_slave_config_reconfigure(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	877	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	878	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	879
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	880	// Another IDN to configure?
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	881	if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	882	fsm->soe_request = list_entry(fsm->soe_request->list.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	883	ec_soe_request_t, list);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	884	ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	885	ec_soe_request_write(&fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	886	ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	887	ec_fsm_soe_exec(fsm_soe); // execute immediately
1873 219be3742274 Added missing queue_external_datagram(); removed tabs. Florian Pose <fp@igh-essen.com> parents: 1849 diff changeset	888	ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
1844 b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	889	return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	890	}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	891
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	892	// All SDOs are now configured.
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	893	ec_fsm_slave_config_enter_pdo_conf(fsm);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	894	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	895
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	896	/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	897
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	898	/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	899	*/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	900	void ec_fsm_slave_config_enter_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	901	ec_fsm_slave_config_t fsm /< slave state machine /
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	902	)
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	903	{
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	904	// Start configuring PDOs
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	905	ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	906	fsm->state = ec_fsm_slave_config_state_pdo_conf;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	907	fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	908	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	909
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	910	/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	911
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	912	/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	913	*/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	914	void ec_fsm_slave_config_state_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	915	ec_fsm_slave_config_t fsm /< slave state machine /
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	916	)
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	917	{
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1491 diff changeset	918	// TODO check for config here
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	919
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	920	if (ec_fsm_pdo_exec(fsm->fsm_pdo))
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	921	return;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	922
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	923	if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	924	ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	925	return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	926	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	927
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	928	if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	929	EC_WARN("PDO configuration failed on slave %u.\n",
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	930	fsm->slave->ring_position);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	931	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	932
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	933	ec_fsm_slave_config_enter_watchdog_divider(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	934	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	935
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	936	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	937
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	938	/** WATCHDOG_DIVIDER entry function.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	939	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	940	void ec_fsm_slave_config_enter_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	941	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	942	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	943	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	944	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	945	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	946	ec_master_t *master = slave->master;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	947	ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	948
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	949	if (config && config->watchdog_divider) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	950	if (master->debug_level)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	951	EC_DBG("Setting watchdog divider to %u.\n",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	952	config->watchdog_divider);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	953
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	954	ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	955	EC_WRITE_U16(datagram->data, config->watchdog_divider);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	956	fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	957	fsm->state = ec_fsm_slave_config_state_watchdog_divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	958	} else {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	959	ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	960	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	961	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	962
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	963	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	964
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	965	/** Slave configuration state: WATCHDOG_DIVIDER.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	966	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	967	void ec_fsm_slave_config_state_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	968	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	969	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	970	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	971	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	972	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	973
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	974	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	975	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	976
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	977	if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	978	fsm->state = ec_fsm_slave_config_state_error;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	979	EC_ERR("Failed to receive watchdog divider configuration datagram for"
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	980	" slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	981	ec_datagram_print_state(datagram);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	982	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	983	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	984
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	985	if (datagram->working_counter != 1) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	986	slave->error_flag = 1;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	987	EC_WARN("Failed to set watchdog divider of slave %u: ",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	988	slave->ring_position);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	989	ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	990	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	991	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	992
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	993	ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	994	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	995
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	996	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	997
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	998	/** WATCHDOG entry function
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	999	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1000	void ec_fsm_slave_config_enter_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1001	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1002	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1003	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1004	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1005	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1006	ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1007
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1008	if (config && config->watchdog_intervals) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1009	if (slave->master->debug_level)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1010	EC_DBG("Setting process data watchdog intervals to %u.\n",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1011	config->watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1012
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1013	ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1014	EC_WRITE_U16(datagram->data, config->watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1015
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1016	fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1017	fsm->state = ec_fsm_slave_config_state_watchdog;
1520 09cf61d61af0 Fixed setting watchdog intervals. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	1018	} else {
09cf61d61af0 Fixed setting watchdog intervals. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	1019	ec_fsm_slave_config_enter_pdo_sync(fsm);
09cf61d61af0 Fixed setting watchdog intervals. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	1020	}
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1021	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1022
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1023	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1024
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1025	/** Slave configuration state: WATCHDOG.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1026	*/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1027
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1028	void ec_fsm_slave_config_state_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1029	ec_fsm_slave_config_t fsm /< slave state machine /
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1030	)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1031	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1032	ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1033	ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1034
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1035	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1036	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1037
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1038	if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1039	fsm->state = ec_fsm_slave_config_state_error;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1040	EC_ERR("Failed to receive sync manager watchdog configuration "
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1041	"datagram for slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1042	ec_datagram_print_state(datagram);
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1043	return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1044	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1045
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1046	if (datagram->working_counter != 1) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1047	EC_WARN("Failed to set process data watchdog intervals of slave %u: ",
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1048	slave->ring_position);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1049	ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1050	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1051
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1052	ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1053	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1054
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1055	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1056
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1057	/** Check for PDO sync managers to be configured.
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1058	*/
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1059	void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1060	ec_fsm_slave_config_t fsm /< slave state machine /
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1061	)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1062	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1063	ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1064	ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1065	unsigned int i, offset, num_pdo_syncs;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1066	uint8_t sync_index;
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1067	const ec_sync_t *sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1068	uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1069
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1070	if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1071	offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1072	} else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1073	offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1074	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1075
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1076	if (slave->sii.sync_count <= offset) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1077	// no PDO sync managers to configure
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	1078	ec_fsm_slave_config_enter_fmmu(fsm);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1079	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1080	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1081
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1082	num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1083
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1084	// configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1085	ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1086	0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1087	EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	1088	ec_datagram_zero(datagram);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1089
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1090	for (i = 0; i < num_pdo_syncs; i++) {
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1091	const ec_sync_config_t *sync_config;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1092	sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1093	sync = &slave->sii.syncs[sync_index];
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1094
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1095	if (slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1096	sync_config = &slave->config->sync_configs[sync_index];
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1097	size = ec_pdo_list_total_size(&sync_config->pdos);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1098	} else {
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1099	sync_config = NULL;
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1100	size = sync->default_length;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1101	}
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1102
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1103	ec_sync_page(sync, sync_index, size, sync_config,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1104	datagram->data + EC_SYNC_PAGE_SIZE * i);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1105	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1106
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1107	fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1108	fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1109	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1110
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1111	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1112
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1113	/** Configure PDO sync managers.
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1114	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1115	void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1116	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1117	)
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1118	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1119	ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1120	ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1121
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1122	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1123	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1124
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1125	if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1126	fsm->state = ec_fsm_slave_config_state_error;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1127	EC_ERR("Failed to receive process data sync manager configuration"
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1128	" datagram for slave %u: ", slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1129	ec_datagram_print_state(datagram);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1130	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1131	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1132
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1133	if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1134	slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1135	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1136	EC_ERR("Failed to set process data sync managers of slave %u: ",
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1137	slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1138	ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1139	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1140	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	1141
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1142	ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1143	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1144
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1145	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1146
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1147	/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1148	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1149	void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1150	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1151	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1152	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1153	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1154	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1155	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1156	const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1157	const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1158
1491 40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1159	if (!slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied. Florian Pose <fp@igh-essen.com> parents: 1471 diff changeset	1160	ec_fsm_slave_config_enter_safeop(fsm);
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1161	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1162	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1163
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1164	if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1165	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1166	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1167	EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1168	slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1169	slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1170	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1171	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1172
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1173	if (!slave->base_fmmu_count) { // skip FMMU configuration
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1174	ec_fsm_slave_config_enter_dc_cycle(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1175	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1176	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1177
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1178	// configure FMMUs
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1179	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1180	0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	1181	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1182	for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1183	fmmu = &slave->config->fmmu_configs[i];
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	1184	if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1185	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1186	fsm->state = ec_fsm_slave_config_state_error;
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1187	EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1188	" %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1189	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1190	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1191	ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1192	datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1193	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1194
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1195	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1196	fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1197	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1198
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1199	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1200
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1201	/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1202	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1203	void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1204	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1205	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1206	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1207	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1208	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1209
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1210	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1211	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1212
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1213	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1214	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1215	EC_ERR("Failed to receive FMMUs datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1216	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1217	ec_datagram_print_state(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1218	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1219	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1220
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1221	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1222	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1223	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1224	EC_ERR("Failed to set FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1225	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1226	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1227	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1228	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1229
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1230	ec_fsm_slave_config_enter_dc_cycle(fsm);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1231	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1232
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1233	/*****************************************************************************/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1234
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1235	/** Check for DC to be configured.
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1236	*/
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1237	void ec_fsm_slave_config_enter_dc_cycle(
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1238	ec_fsm_slave_config_t fsm /< slave state machine /
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1239	)
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1240	{
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1241	ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1242	ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1243	ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1244
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1245	if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1246	ec_fsm_slave_config_reconfigure(fsm);
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1247	return;
9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1248	}
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1249
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1250	if (config->dc_assign_activate) {
1419 8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph. Florian Pose <fp@igh-essen.com> parents: 1412 diff changeset	1251	if (!slave->base_dc_supported \|\| !slave->has_dc_system_time) {
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1252	EC_WARN("Slave %u seems not to support distributed clocks!\n",
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1253	slave->ring_position);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1254	}
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1255
1458 bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1256	if (slave->master->debug_level)
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1257	EC_DBG("Slave %u: Setting DC cycle times to %u / %u.\n",
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1258	slave->ring_position,
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1259	config->dc_sync[0].cycle_time,
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1260	config->dc_sync[1].cycle_time);
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1261
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1262	// set DC cycle times
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1263	ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1264	EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1265	EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1266	fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1267	fsm->state = ec_fsm_slave_config_state_dc_cycle;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1268	} else {
1404 b7ea043d5081 Minor changes. Florian Pose <fp@igh-essen.com> parents: 1396 diff changeset	1269	// DC are unused
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1270	ec_fsm_slave_config_enter_safeop(fsm);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1271	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1272	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1273
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1274	/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1275
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1276	/** Slave configuration state: DC CYCLE.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1277	*/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1278	void ec_fsm_slave_config_state_dc_cycle(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1279	ec_fsm_slave_config_t fsm /< slave state machine /
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1280	)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1281	{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1282	ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1283	ec_slave_t *slave = fsm->slave;
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1284	ec_master_t *master = slave->master;
1412 8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1285	ec_slave_config_t *config = slave->config;
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1286	ec_sync_signal_t *sync0 = &config->dc_sync[0];
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1287	u64 start_time;
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1288
1412 8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1289	if (!config) { // config removed in the meantime
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1290	ec_fsm_slave_config_reconfigure(fsm);
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1291	return;
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1292	}
8f7bbbd3b7ac DC shift time working. Florian Pose <fp@igh-essen.com> parents: 1407 diff changeset	1293
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1294	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1295	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1296
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1297	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1298	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1299	EC_ERR("Failed to receive DC cycle times datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1300	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1301	ec_datagram_print_state(datagram);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1302	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1303	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1304
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1305	if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1306	slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1307	fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1308	EC_ERR("Failed to set DC cycle times of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1309	slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1310	ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1311	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1312	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1313
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1314	// set DC start time
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1315	start_time = master->app_time + 100000000ULL; // now + X ns
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1316	// FIXME use slave's local system time here?
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1317
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1318	if (sync0->cycle_time) {
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1319	// find correct phase
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1320	if (master->has_start_time) {
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1321	u64 diff, start;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1322	u32 remainder;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1323
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1324	diff = start_time - master->app_start_time;
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1325	remainder = do_div(diff, sync0->cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1326
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1327	start = start_time +
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1328	sync0->cycle_time - remainder + sync0->shift_time;
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1329
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1330	if (master->debug_level) {
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1331	EC_DBG("app_start_time=%llu\n", master->app_start_time);
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1332	EC_DBG(" start_time=%llu\n", start_time);
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1333	EC_DBG(" cycle_time=%u\n", sync0->cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1436 diff changeset	1334	EC_DBG(" shift_time=%u\n", sync0->shift_time);
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1335	EC_DBG(" remainder=%u\n", remainder);
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1336	EC_DBG(" start=%llu\n", start);
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1337	}
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1338	start_time = start;
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1339	} else {
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1340	EC_WARN("No application time supplied. Cyclic start time will "
1458 bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1341	"not be in phase for slave %u.\n", slave->ring_position);
1436 08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1342	}
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1343	}
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1344
08eaf72409bb Use application start time as a common reference for cyclic generation Florian Pose <fp@igh-essen.com> parents: 1430 diff changeset	1345	if (master->debug_level)
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1346	EC_DBG("Slave %u: Setting DC cyclic operation start time to %llu.\n",
9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1347	slave->ring_position, start_time);
9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1348
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1349	ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
1396 9d04cc08f40f DC sync reference clock to application time. TBC... Florian Pose <fp@igh-essen.com> parents: 1392 diff changeset	1350	EC_WRITE_U64(datagram->data, start_time);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1351	fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1352	fsm->state = ec_fsm_slave_config_state_dc_start;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1353	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1354
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1355	/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1356
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1357	/** Slave configuration state: DC START.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1358	*/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1359	void ec_fsm_slave_config_state_dc_start(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1360	ec_fsm_slave_config_t fsm /< slave state machine /
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1361	)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1362	{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1363	ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1364	ec_slave_t *slave = fsm->slave;
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1365	ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1366
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1367	if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1368	ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1369	return;
e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1370	}
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1371
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1372	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1373	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1374
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1375	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1376	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1377	EC_ERR("Failed to receive DC start time datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1378	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1379	ec_datagram_print_state(datagram);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1380	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1381	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1382
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1383	if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1384	slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1385	fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1386	EC_ERR("Failed to set DC start time of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1387	slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1388	ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1389	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1390	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1391
1458 bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1392	if (slave->master->debug_level)
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1393	EC_DBG("Slave %u: Setting DC AssignActivate to 0x%04x.\n",
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1394	slave->ring_position, config->dc_assign_activate);
bba02b6a4492 Debugging output. Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	1395
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1396	// assign sync unit to EtherCAT or PDI
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1397	ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1398	EC_WRITE_U16(datagram->data, config->dc_assign_activate);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1399	fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1400	fsm->state = ec_fsm_slave_config_state_dc_assign;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1401	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1402
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1403	/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1404
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1405	/** Slave configuration state: DC ASSIGN.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1406	*/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1407	void ec_fsm_slave_config_state_dc_assign(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1408	ec_fsm_slave_config_t fsm /< slave state machine /
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1409	)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1410	{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1411	ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1412	ec_slave_t *slave = fsm->slave;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1413
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1414	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1415	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1416
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1417	if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1418	fsm->state = ec_fsm_slave_config_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1419	EC_ERR("Failed to receive DC activation datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1420	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1520 diff changeset	1421	ec_datagram_print_state(datagram);
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1422	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1423	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1424
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1425	if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1426	slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1427	fsm->state = ec_fsm_slave_config_state_error;
1407 e3974f72d31e Improved DC configuration. Florian Pose <fp@igh-essen.com> parents: 1406 diff changeset	1428	EC_ERR("Failed to set DC cyclic operation state of slave %u: ",
1392 8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1429	slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1430	ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1431	return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1432	}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC... Florian Pose <fp@igh-essen.com> parents: 1374 diff changeset	1433
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1434	ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1435	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1436
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1437	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1438
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1439	/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1440	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1441	void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1442	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1443	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1444	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1445	fsm->state = ec_fsm_slave_config_state_safeop;
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1446	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1447	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1448	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1449
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1450	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1451
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1452	/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1453	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1454	void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1455	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1456	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1457	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1458	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1459	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1460
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1461	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1462
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1463	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1464	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1465	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1466	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1468	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1469
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1470	// slave is now in SAFEOP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1471
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1472	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1473	EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1475
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1476	if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1477	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1478	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1479	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1480	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1481	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1482	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1483	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1484
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1485	// set state to OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1486	fsm->state = ec_fsm_slave_config_state_op;
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1487	ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1488	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1489	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1490
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1491	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1492
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1493	/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1494	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1495	void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1496	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1497	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1498	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1499	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1500	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1501
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1502	if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1503
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1504	if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	1505	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1506	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1507	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1508	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1509	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1510
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1511	// slave is now in OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1512
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1513	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1514	EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	1515	EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1516	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1517
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1518	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1520
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1521	/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1522
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1523	/** Reconfigure the slave starting at INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1524	*/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1525	void ec_fsm_slave_config_reconfigure(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1526	ec_fsm_slave_config_t fsm /< slave state machine /
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1527	)
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1528	{
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1529	if (fsm->slave->master->debug_level) {
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1530	EC_DBG("Slave configuration for slave %u detached during "
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1531	"configuration. Reconfiguring.", fsm->slave->ring_position);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1532	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1533
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1534	ec_fsm_slave_config_enter_init(fsm); // reconfigure
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1535	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	1536
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1537	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1538	* Common state functions
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1539	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1540
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1541	/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1542	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1543	void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1544	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1545	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1546	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1547	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1548
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1549	/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1550
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1551	/** State: END.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1552	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1553	void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1554	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1555	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1556	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1557	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1558
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	1559	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 19 Mar 2010 12:40:08 +0100
changeset 1879	7539329b5cf6
parent 1873	219be3742274
child 1889	131f655c03d3
permissions	-rw-r--r--