etherlabmaster: master/fsm_slave_config.c@76b4014391bd (annotated)

830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	34	/** \file
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	35	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	36	* EtherCAT slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	37	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "mailbox.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "fsm_slave_config.h"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	55	void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	56	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	57	void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	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	59	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	60
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	61	void ec_fsm_slave_config_enter_init(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_enter_mbox_sync(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	65	void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	66	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	67	void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	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	69
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	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	71	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	72
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	73	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	74
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	76
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	/** Constructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	79	void ec_fsm_slave_config_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	80	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	81	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	82	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	83	ec_fsm_coe_t fsm_coe, /< CoE 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	84	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	85	)
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	ec_sdo_request_init(&fsm->request_copy);
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	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	90	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	91	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	92	fsm->fsm_pdo = fsm_pdo;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	96
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	/** Destructor.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	*/
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	99	void ec_fsm_slave_config_clear(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	100	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	101	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	{
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	103	ec_sdo_request_clear(&fsm->request_copy);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	105
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	108	/** Start slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	109	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	110	void ec_fsm_slave_config_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	111	ec_fsm_slave_config_t fsm, /< slave state machine /
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	ec_slave_t slave /< slave to configure /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	fsm->slave = slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	fsm->state = ec_fsm_slave_config_state_start;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	118
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	122	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	123	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	124	int ec_fsm_slave_config_running(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	125	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	126	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	return fsm->state != ec_fsm_slave_config_state_end
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	&& fsm->state != ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	131
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	133
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	134	/** Executes the current state of the state machine.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	135	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	136	* 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	137	* of the state machine is delayed to the next cycle.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	138	*
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	139	* \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	140	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	141	int ec_fsm_slave_config_exec(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	142	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	143	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	if (fsm->datagram->state == EC_DATAGRAM_SENT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	\|\| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	// datagram was not sent or received yet.
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	150
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	fsm->state(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	154
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	156
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	/**
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	158	* \return true, if the state machine terminated gracefully
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	159	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	160	int ec_fsm_slave_config_success(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	161	const ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	162	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	return fsm->state == ec_fsm_slave_config_state_end;
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	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	* Slave configuration state machine
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
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	171	/** Slave configuration state: START.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	172	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	173	void ec_fsm_slave_config_state_start(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	174	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	175	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	if (fsm->slave->master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	178	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	179	}
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	180
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	181	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	182	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	183
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	184	/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	185
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	186	/** 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	187	*/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	188	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	189	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	190	)
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	191	{
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	192	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	193	ec_fsm_change_exec(fsm->fsm_change);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	fsm->state = ec_fsm_slave_config_state_init;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	196
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	198
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	199	/** Slave configuration state: INIT.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	200	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	201	void ec_fsm_slave_config_state_init(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	202	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	203	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	208
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	209	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	210
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	211	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	212	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	217
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	219	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	220	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	if (!slave->base_fmmu_count) { // skip FMMU configuration
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	226
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	if (master->debug_level)
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	228	EC_DBG("Clearing FMMU configurations of slave %u...\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	230
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	// clear FMMU configurations
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	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	234	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	fsm->state = ec_fsm_slave_config_state_clear_fmmus;
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
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	241	/** Slave configuration state: CLEAR FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	242	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	243	void ec_fsm_slave_config_state_clear_fmmus(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	244	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	245	)
830 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	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	248
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	251
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	254	EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	258
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	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	262	EC_ERR("Failed to clear FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	}
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	ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	270
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	272
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	273	/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	274	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	283
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	// slave is now in INIT
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	288	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	293
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	294	if (!slave->sii.mailbox_protocols) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	// no mailbox protocols supported
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	ec_fsm_slave_config_enter_preop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	302
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	304	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	305	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	307
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	308	if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	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	310	EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	311	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	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	314	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	315	slave->sii.syncs[i].default_length,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	316	EC_DIR_INVALID, // use default direction
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	} else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	ec_sync_t sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	321
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	if (master->debug_level)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	" mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	326
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	EC_SYNC_PAGE_SIZE * 2);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	329	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	330
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	331	ec_sync_init(&sync, slave);
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	332	sync.physical_start_address = slave->sii.rx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	sync.enable = 1;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	335	ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	336	EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	337	datagram->data);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	338
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	339	ec_sync_init(&sync, slave);
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 830 diff changeset	340	sync.physical_start_address = slave->sii.tx_mailbox_offset;
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	sync.enable = 1;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	343	ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	344	EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	345	datagram->data + EC_SYNC_PAGE_SIZE);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	347
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	351
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	353
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	354	/** Slave configuration state: SYNC.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	355	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	356	void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	357	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	358	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	362
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	365
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	EC_ERR("Failed to receive sync manager configuration datagram for"
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	369	" slave %u (datagram state %u).\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	370	slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	373
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	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	377	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	378	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	380	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	381	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	382
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	383	ec_fsm_slave_config_enter_preop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	385
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	387
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	388	/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	389	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	390	void ec_fsm_slave_config_enter_preop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	391	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	392	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	fsm->state = ec_fsm_slave_config_state_preop;
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	395	ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	396	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	398
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	400
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	401	/** Slave configuration state: PREOP.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	402	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	403	void ec_fsm_slave_config_state_preop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	404	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	405	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	409
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	410	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	411
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	412	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	413	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	418
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	// slave is now in PREOP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	421
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	423	EC_DBG("Slave %u is now in PREOP.\n", slave->ring_position);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	425
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	426	if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	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	429	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	433	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	434
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	if (!slave->config) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	436	EC_DBG("Slave %u is not configured.\n", slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	438	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	439	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	440
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	441	ec_fsm_slave_config_enter_sdo_conf(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	442	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	443
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	444	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	445
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	446	/** Check for Sdo configurations to be applied.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	447	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	448	void ec_fsm_slave_config_enter_sdo_conf(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	449	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	450	)
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	451	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	452	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	453
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	454	// No CoE configuration to be applied?
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	455	if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	456	ec_fsm_slave_config_enter_pdo_conf(fsm);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	457	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	458	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	459
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	460	// start Sdo configuration
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	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	462	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	463	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	464	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	465	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	466	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	467	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	468	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	469
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	470	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	471
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	472	/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	473	*/
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	474	void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	475	ec_fsm_slave_config_t fsm /< slave state machine /
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	476	)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	477	{
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	478	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	479
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	480	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	481	EC_ERR("Sdo configuration failed for slave %u.\n",
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	482	fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	483	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	484	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	485	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	486	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	487
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	488	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	489	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	490	return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	491	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	492
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	// 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	494	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	495	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	496	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	497	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	498	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	499	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	500	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	502	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	503
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	504	// 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	505	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	506	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	507
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	508	/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	509
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	510	/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	511	*/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	512	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	513	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	514	)
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	515	{
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	516	// Start configuring Pdos
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	517	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	518	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	519	fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	520	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	521
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	522	/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	523
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	524	/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	525	*/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	526	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	527	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	528	)
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	529	{
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	530	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	531	return;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	532
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	533	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	534	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	535	return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	536	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	537
1180 846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	538	if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	539	EC_WARN("Pdo configuration failed on slave %u.\n",
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	540	fsm->slave->ring_position);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	541	}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers, Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	542
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	543	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	544	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	545
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	546	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	547
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	548	/** Check for Pdo sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	549	*/
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	550	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	551	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	552	)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	553	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	554	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	555	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	556	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	557	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	558	const ec_sync_t *sync;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	559	const ec_sync_config_t *sync_config;
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	560	uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	561
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	562	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	563	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	564	} else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	565	offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	566	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	567
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	568	if (slave->sii.sync_count <= offset) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	569	// 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	570	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	571	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	572	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	573
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	574	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	575
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	576	// 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	577	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	578	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	579	EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1180 diff changeset	580	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	581
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	582	for (i = 0; i < num_pdo_syncs; i++) {
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	583	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	584	sync = &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	585	sync_config = &slave->config->sync_configs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	586	size = ec_pdo_list_total_size(&sync_config->pdos);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	587	ec_sync_page(sync, sync_index, size, sync_config->dir,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	588	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	589	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	590
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	591	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	592	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	593	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	594
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	595	/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	596
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	597	/** Configure Pdo sync managers.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	598	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	599	void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	600	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	601	)
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	602	{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	603	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	604	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	605
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	606	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	607	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	608
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	609	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	610	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	611	EC_ERR("Failed to receive process data sync manager configuration"
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	612	" datagram for slave %u (datagram state %u).\n",
888 f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	613	slave->ring_position, datagram->state);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	614	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	615	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	616
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	617	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	618	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	619	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	620	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	621	slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	622	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	623	return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	624	}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	625
1318 76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	626	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	627	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	628	return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	629	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	630
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	632	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	633
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	634	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	635
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	636	/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	637	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	638	void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	639	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	640	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	641	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	642	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	643	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	unsigned int i;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	645	const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	646	const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	647
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	648	if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	649	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	650	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	651	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	652	slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	653	slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	654	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	655	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	656
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	657	if (!slave->base_fmmu_count) { // skip FMMU configuration
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	658	ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	659	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	660	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	661
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	662	// configure FMMUs
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	663	ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	664	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	665	ec_datagram_zero(datagram);
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	666	for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	667	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	668	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	669	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	670	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	671	EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	672	" %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	673	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	674	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	675	ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	676	datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	677	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	678
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	679	fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	680	fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	681	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	682
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	684
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	685	/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	686	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	687	void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	688	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	689	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	690	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	691	ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	692	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	693
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	694	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	695	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	696
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	697	if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	698	fsm->state = ec_fsm_slave_config_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	699	EC_ERR("Failed to receive FMMUs datagram for slave %u"
a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	700	" (datagram state %u).\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	701	slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	702	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	703	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	704
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	705	if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	706	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	707	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	708	EC_ERR("Failed to set FMMUs of slave %u: ",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	709	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	710	ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	711	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	712	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	713
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	714	ec_fsm_slave_config_enter_safeop(fsm);
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
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	717	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	718
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	719	/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	720	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	721	void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	722	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	723	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	724	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	725	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	726	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	727	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	728	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	729
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
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	732	/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	733	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	734	void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	735	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	736	)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	737	{
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	738	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	740
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	741	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	742
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	743	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	744	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	745	fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	746	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	747	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	748	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	749
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	750	// slave is now in SAFEOP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	751
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	752	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	753	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	754	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	755
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	757	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	758	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	759	EC_DBG("Finished configuration of slave %u.\n",
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	760	slave->ring_position);
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	761	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	762	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	763	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	764
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	765	// set state to OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	766	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	767	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	768	ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	769	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	770
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	771	/*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	772
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	773	/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	774	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	775	void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	776	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	777	)
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	ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	781
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	782	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	783
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: 1173 diff changeset	784	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	785	if (!fsm->fsm_change->spontaneous_change)
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	786	slave->error_flag = 1;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	788	return;
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	789	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	790
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	791	// slave is now in OP
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	792
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	793	if (master->debug_level) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 908 diff changeset	794	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	795	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	796	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	797
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	798	fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	799	}
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	800
1318 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
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	803	/** 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	804	*/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	805	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	806	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	807	)
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	808	{
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	809	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	810	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	811	"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	812	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	813
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	814	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	815	}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops. Florian Pose <fp@igh-essen.com> parents: 1277 diff changeset	816
830 d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	817	/******************************************************************************
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	818	* Common state functions
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	819	*****************************************************************************/
d83d92e1a919 Separated slave state machines. Florian Pose <fp@igh-essen.com> parents: diff changeset	820
1064 5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	821	/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	822	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	823	void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	824	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	825	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	826	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	827	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	828
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	829	/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	830
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	831	/** State: END.
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	832	*/
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	833	void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	834	ec_fsm_slave_config_t fsm /< slave state machine /
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	835	)
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	836	{
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	837	}
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	838
5f27403587a8 Avoid duplicate reconfiguration. Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	839	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 25 Nov 2008 14:07:19 +0000
changeset 1318	76b4014391bd
parent 1277	1189e040fe12
child 1326	ef907b0b5125
permissions	-rw-r--r--