master/fsm_master.c
author Florian Pose <fp@igh-essen.com>
Tue, 01 Dec 2009 22:03:50 +0100
changeset 1570 7a2a58107dd8
parent 1543 373cd456dc26
child 1581 e51cf2af3ff9
permissions -rw-r--r--
Use own PFX for printk.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 * EtherCAT master state machine.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "fsm_master.h"
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#include "fsm_foe.h"
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/*****************************************************************************/
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void ec_fsm_master_state_start(ec_fsm_master_t *);
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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void ec_fsm_master_state_read_state(ec_fsm_master_t *);
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);
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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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void ec_fsm_master_state_reg_request(ec_fsm_master_t *);
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void ec_fsm_master_state_foe_request(ec_fsm_master_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_master_init(
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        ec_fsm_master_t *fsm, /**< Master state machine. */
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        ec_master_t *master, /**< EtherCAT master. */
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        ec_datagram_t *datagram /**< Datagram object to use. */
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        )
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{
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    fsm->master = master;
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    fsm->datagram = datagram;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->idle = 0;
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    fsm->link_state = 0;
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    fsm->slaves_responding = 0;
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    fsm->topology_change_pending = 0;
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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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    // init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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    ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
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    ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
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            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);
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    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
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            &fsm->fsm_slave_config, &fsm->fsm_pdo);
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_master_clear(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    // clear sub-state machines
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_foe_clear(&fsm->fsm_foe);
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    ec_fsm_pdo_clear(&fsm->fsm_pdo);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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 * of the state machine is delayed to the next cycle.
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 */
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void ec_fsm_master_exec(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
528
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{
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   123
    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
505
bc443ca0077f State machines re-send datagrams on timeout.
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        // datagram was not sent or received yet.
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        return;
528
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   127
    }
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    fsm->state(fsm);
446
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   130
}
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   131
650
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/*****************************************************************************/
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/**
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 * \return true, if the state machine is in an idle phase
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 */
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int ec_fsm_master_idle(
907
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        const ec_fsm_master_t *fsm /**< Master state machine. */
650
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        )
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{
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    return fsm->idle;
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   142
}
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/*****************************************************************************/
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   145
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   146
/** Restarts the master state machine.
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 */
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   148
void ec_fsm_master_restart(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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   150
        )
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{
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    fsm->state = ec_fsm_master_state_start;
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   153
    fsm->state(fsm); // execute immediately
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   154
}
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238
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/******************************************************************************
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 * Master state machine
238
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 *****************************************************************************/
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   160
/** Master state: START.
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   161
 *
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 * Starts with getting slave count and slave states.
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   163
 */
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   164
void ec_fsm_master_state_start(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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   166
        )
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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{
650
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    fsm->idle = 1;
528
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
1225
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    ec_datagram_zero(fsm->datagram);
528
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    fsm->state = ec_fsm_master_state_broadcast;
260
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   172
}
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/*****************************************************************************/
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   175
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   176
/** Master state: BROADCAST.
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 *
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 * Processes the broadcast read slave count and slaves states.
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   179
 */
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   180
void ec_fsm_master_state_broadcast(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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   182
        )
528
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{
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   184
    ec_datagram_t *datagram = fsm->datagram;
1005
5af7ab9a98b1 Minor change.
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   185
    unsigned int i, size;
238
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   186
    ec_slave_t *slave;
260
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   187
    ec_master_t *master = fsm->master;
238
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   188
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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   189
    if (datagram->state == EC_DATAGRAM_TIMED_OUT)
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   190
        return; // always retry
505
bc443ca0077f State machines re-send datagrams on timeout.
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   191
553
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
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   192
    // bus topology change?
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   193
    if (datagram->working_counter != fsm->slaves_responding) {
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   194
        fsm->topology_change_pending = 1;
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
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   195
        fsm->slaves_responding = datagram->working_counter;
906
f95e3e33c0cf Removed slave online flag.
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   196
        EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
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   197
    }
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   198
1400
3c4923051e43 Clear slave list on link down.
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   199
    if (fsm->link_state && !master->main_device.link_state) { // link went down
1402
4c1203ec569d Tested clearing slave list after link down; minor changes.
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   200
        if (master->debug_level) {
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   201
            EC_DBG("Master state machine detected "
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   202
                    "link down. Clearing slave list.\n");
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diff changeset
   203
        }
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   204
1400
3c4923051e43 Clear slave list on link down.
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   205
#ifdef EC_EOE
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   206
        ec_master_eoe_stop(master);
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   207
        ec_master_clear_eoe_handlers(master);
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   208
#endif
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   209
        ec_master_clear_slaves(master);
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diff changeset
   210
    }
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   211
    fsm->link_state = master->main_device.link_state;
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   212
1402
4c1203ec569d Tested clearing slave list after link down; minor changes.
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diff changeset
   213
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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   214
        ec_fsm_master_restart(fsm);
906
f95e3e33c0cf Removed slave online flag.
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   215
        return;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   216
    }
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diff changeset
   217
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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   218
    if (fsm->slaves_responding) {
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diff changeset
   219
        uint8_t states = EC_READ_U8(datagram->data);
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diff changeset
   220
        if (states != fsm->slave_states) { // slave states changed?
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diff changeset
   221
            char state_str[EC_STATE_STRING_SIZE];
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diff changeset
   222
            fsm->slave_states = states;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   223
            ec_state_string(fsm->slave_states, state_str, 1);
1021
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   224
            EC_INFO("Slave states: %s.\n", state_str);
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diff changeset
   225
        }
fa5cf205f4f0 Set slave_states to 0x00 when no slaves are present.
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diff changeset
   226
    } else {
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diff changeset
   227
        fsm->slave_states = 0x00;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   228
    }
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diff changeset
   229
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   230
    if (fsm->topology_change_pending) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   231
        down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   232
        if (!master->allow_scan) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   233
            up(&master->scan_sem);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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parents: 880
diff changeset
   234
        } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   235
            master->scan_busy = 1;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   236
            up(&master->scan_sem);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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diff changeset
   237
656
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diff changeset
   238
            // topology change when scan is allowed:
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diff changeset
   239
            // clear all slaves and scan the bus
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diff changeset
   240
            fsm->topology_change_pending = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   241
            fsm->idle = 0;
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diff changeset
   242
            fsm->scan_jiffies = jiffies;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   243
715
f12ff7c08623 Added --enable-eoe conditional.
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parents: 713
diff changeset
   244
#ifdef EC_EOE
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   245
            ec_master_eoe_stop(master);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   246
            ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
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parents: 713
diff changeset
   247
#endif
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   248
            ec_master_clear_slaves(master);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   249
1003
f7cf194d6979 Minor change.
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parents: 1002
diff changeset
   250
            master->slave_count = fsm->slaves_responding;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   251
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   252
            if (!master->slave_count) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   253
                // no slaves present -> finish state machine.
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   254
                master->scan_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   255
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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parents: 1029
diff changeset
   256
                ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   257
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   258
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   259
1005
5af7ab9a98b1 Minor change.
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parents: 1003
diff changeset
   260
            size = sizeof(ec_slave_t) * master->slave_count;
5af7ab9a98b1 Minor change.
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parents: 1003
diff changeset
   261
            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
5af7ab9a98b1 Minor change.
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diff changeset
   262
                EC_ERR("Failed to allocate %u bytes of slave memory!\n",
5af7ab9a98b1 Minor change.
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parents: 1003
diff changeset
   263
                        size);
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   264
                master->slave_count = 0; // TODO avoid retrying scan!
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   265
                master->scan_busy = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   266
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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parents: 1029
diff changeset
   267
                ec_fsm_master_restart(fsm);
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   268
                return;
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   269
            }
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   270
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   271
            // init slaves
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   272
            for (i = 0; i < master->slave_count; i++) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   273
                slave = master->slaves + i;
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   274
                ec_slave_init(slave, master, i, i + 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   275
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
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parents: 1028
diff changeset
   276
                // do not force reconfiguration in operation phase to avoid
908
386b908033be Replaced self_configured flag with force_config flag.
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parents: 907
diff changeset
   277
                // unnecesssary process data interruptions
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   278
                if (master->phase != EC_OPERATION)
908
386b908033be Replaced self_configured flag with force_config flag.
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parents: 907
diff changeset
   279
                    slave->force_config = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   280
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   281
904
ba6f222aa06e Removed some debugging.
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diff changeset
   282
            // broadcast clear all station addresses
717
87abf1166e88 Clear station addresses with broadcast before setting them.
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diff changeset
   283
            ec_datagram_bwr(datagram, 0x0010, 2);
87abf1166e88 Clear station addresses with broadcast before setting them.
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parents: 716
diff changeset
   284
            EC_WRITE_U16(datagram->data, 0x0000);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   285
            fsm->retries = EC_FSM_RETRIES;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   286
            fsm->state = ec_fsm_master_state_clear_addresses;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   287
            return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   288
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   289
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   290
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   291
    if (master->slave_count) {
907
570ae1c64465 Improved master state machine.
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diff changeset
   292
        // fetch state from first slave
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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parents: 998
diff changeset
   293
        fsm->slave = master->slaves;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   294
        ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   295
                0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   296
        ec_datagram_zero(datagram);
853
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   297
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   298
        fsm->state = ec_fsm_master_state_read_state;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   299
    } else {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   300
        ec_fsm_master_restart(fsm);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   301
    }
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   302
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   303
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   304
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   305
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   306
/** Check for pending SII write requests and process one.
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   307
 *
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   308
 * \return non-zero, if an SII write request is processed.
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   309
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   310
int ec_fsm_master_action_process_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   311
        ec_fsm_master_t *fsm /**< Master state machine. */
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   312
        )
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   313
{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   314
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   315
    ec_sii_write_request_t *request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   316
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   317
    // search the first request to be processed
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   318
    while (1) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   319
        if (list_empty(&master->sii_requests))
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   320
            break;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   321
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   322
        // get first request
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   323
        request = list_entry(master->sii_requests.next,
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   324
                ec_sii_write_request_t, list);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   325
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   326
        request->state = EC_INT_REQUEST_BUSY;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   327
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   328
        // found pending SII write operation. execute it!
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   329
        if (master->debug_level)
906
f95e3e33c0cf Removed slave online flag.
Florian Pose <fp@igh-essen.com>
parents: 905
diff changeset
   330
            EC_DBG("Writing SII data to slave %u...\n",
f95e3e33c0cf Removed slave online flag.
Florian Pose <fp@igh-essen.com>
parents: 905
diff changeset
   331
                    request->slave->ring_position);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   332
        fsm->sii_request = request;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   333
        fsm->sii_index = 0;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   334
        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   335
                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   336
        fsm->state = ec_fsm_master_state_write_sii;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   337
        fsm->state(fsm); // execute immediately
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   338
        return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   339
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   340
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   341
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   342
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   343
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   344
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   345
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   346
/** Check for pending register requests and process one.
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   347
 * 
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   348
 * \return non-zero, if a register request is processed.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   349
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   350
int ec_fsm_master_action_process_register(
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   351
        ec_fsm_master_t *fsm /**< Master state machine. */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   352
        )
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   353
{
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   354
    ec_master_t *master = fsm->master;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   355
    ec_reg_request_t *request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   356
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   357
    // search the first request to be processed
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   358
    while (!list_empty(&master->reg_requests)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   359
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   360
        // get first request
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   361
        request = list_entry(master->reg_requests.next,
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   362
                ec_reg_request_t, list);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   363
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   364
        request->state = EC_INT_REQUEST_BUSY;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   365
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   366
        // found pending request; process it!
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   367
        if (master->debug_level)
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   368
            EC_DBG("Processing register request for slave %u, "
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   369
                    "offset 0x%04x, length %zu...\n",
1380
c2b0ef67e829 Improved phy debugging.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   370
                    request->slave->ring_position,
c2b0ef67e829 Improved phy debugging.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   371
                    request->offset, request->length);
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   372
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   373
        if (request->length > fsm->datagram->mem_size) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   374
            EC_ERR("Request length (%zu) exceeds maximum "
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   375
                    "datagram size (%zu)!\n", request->length,
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   376
                    fsm->datagram->mem_size);
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   377
            request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   378
            wake_up(&master->reg_queue);
1386
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   379
            continue;
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   380
        }
95ec1e9bcb53 Check phy_request length for read operations, too!
Florian Pose <fp@igh-essen.com>
parents: 1385
diff changeset
   381
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   382
        fsm->reg_request = request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   383
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   384
        if (request->dir == EC_DIR_INPUT) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   385
            ec_datagram_fprd(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   386
                    request->offset, request->length);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   387
            ec_datagram_zero(fsm->datagram);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   388
        } else {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   389
            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   390
                    request->offset, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   391
            memcpy(fsm->datagram->data, request->data, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   392
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   393
        fsm->retries = EC_FSM_RETRIES;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   394
        fsm->state = ec_fsm_master_state_reg_request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   395
        return 1;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   396
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   397
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   398
    return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   399
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   400
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   401
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   402
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   403
/** Check for pending SDO requests and process one.
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   404
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   405
 * \return non-zero, if an SDO request is processed.
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   406
 */
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   407
int ec_fsm_master_action_process_sdo(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   408
        ec_fsm_master_t *fsm /**< Master state machine. */
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   409
        )
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   410
{
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   411
    ec_master_t *master = fsm->master;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   412
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   413
    ec_sdo_request_t *req;
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   414
    ec_master_sdo_request_t *request;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   415
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   416
    // search for internal requests to be processed
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   417
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   418
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   419
            slave++) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   420
        if (!slave->config)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   421
            continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   422
        list_for_each_entry(req, &slave->config->sdo_requests, list) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   423
            if (req->state == EC_INT_REQUEST_QUEUED) {
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   424
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   425
                if (ec_sdo_request_timed_out(req)) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   426
                    req->state = EC_INT_REQUEST_FAILURE;
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   427
                    if (master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   428
                        EC_DBG("SDO request for slave %u timed out...\n",
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   429
                                slave->ring_position);
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   430
                    continue;
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   431
                }
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   432
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   433
                if (slave->current_state == EC_SLAVE_STATE_INIT) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   434
                    req->state = EC_INT_REQUEST_FAILURE;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   435
                    continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   436
                }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   437
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   438
                req->state = EC_INT_REQUEST_BUSY;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   439
                if (master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   440
                    EC_DBG("Processing SDO request for slave %u...\n",
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   441
                            slave->ring_position);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   442
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   443
                fsm->idle = 0;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   444
                fsm->sdo_request = req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   445
                fsm->slave = slave;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   446
                fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   447
                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   448
                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   449
                return 1;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   450
            }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   451
        }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   452
    }
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   453
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   454
    // search the first external request to be processed
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   455
    while (1) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   456
        if (list_empty(&master->slave_sdo_requests))
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   457
            break;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   458
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   459
        // get first request
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   460
        request = list_entry(master->slave_sdo_requests.next,
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   461
                ec_master_sdo_request_t, list);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   462
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   463
        request->req.state = EC_INT_REQUEST_BUSY;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   464
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   465
        slave = request->slave;
969
e259df107c92 process Sdo requests even with error_flag set.
Florian Pose <fp@igh-essen.com>
parents: 930
diff changeset
   466
        if (slave->current_state == EC_SLAVE_STATE_INIT) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   467
            EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   468
                    slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   469
            request->req.state = EC_INT_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   470
            wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   471
            continue;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   472
        }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   473
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   474
        // Found pending SDO request. Execute it!
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   475
        if (master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   476
            EC_DBG("Processing SDO request for slave %u...\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   477
                    slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   478
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   479
        // Start uploading SDO
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   480
        fsm->idle = 0;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   481
        fsm->sdo_request = &request->req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   482
        fsm->slave = slave;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   483
        fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   484
        ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   485
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   486
        return 1;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   487
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   488
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   489
    return 0;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   490
}
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   491
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   492
/*****************************************************************************/
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   493
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   494
/** Check for pending FoE requests and process one.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   495
 *
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   496
 * \return non-zero, if an FoE request is processed.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   497
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   498
int ec_fsm_master_action_process_foe(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   499
        ec_fsm_master_t *fsm /**< Master state machine. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   500
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   501
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   502
    ec_master_t *master = fsm->master;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   503
    ec_slave_t *slave;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   504
    ec_master_foe_request_t *request;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   505
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   506
    // search the first request to be processed
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   507
    while (1) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   508
        if (list_empty(&master->foe_requests))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   509
            break;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   510
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   511
        // get first request
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   512
        request = list_entry(master->foe_requests.next,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   513
                ec_master_foe_request_t, list);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   514
        list_del_init(&request->list); // dequeue
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   515
        request->req.state = EC_INT_REQUEST_BUSY;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   516
        slave = request->slave;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   517
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   518
        if (master->debug_level)
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   519
            EC_DBG("Processing FoE request for slave %u.\n",
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   520
                    slave->ring_position);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   521
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   522
        fsm->foe_request = &request->req;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   523
        fsm->slave = slave;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   524
        fsm->state = ec_fsm_master_state_foe_request;
1444
45d64e8e3675 Unset idle flag while processing FoE requests.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   525
        fsm->idle = 0;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   526
        ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   527
        ec_fsm_foe_exec(&fsm->fsm_foe);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   528
        return 1;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   529
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   530
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   531
    return 0;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   532
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   533
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   534
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   535
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   536
/** Master action: IDLE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   537
 *
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   538
 * Does secondary work.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   539
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   540
void ec_fsm_master_action_idle(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   541
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   542
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   543
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   544
    ec_master_t *master = fsm->master;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   545
    ec_slave_t *slave;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   546
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   547
    // Check for pending SDO requests
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   548
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   549
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   550
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   551
    // Check for pending FoE requests
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   552
    if (ec_fsm_master_action_process_foe(fsm))
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   553
        return;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   554
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   555
    // check, if slaves have an SDO dictionary to read out.
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   556
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   557
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   558
            slave++) {
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   559
        if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   560
                || (slave->sii.has_general
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   561
                    && !slave->sii.coe_details.enable_sdo_info)
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   562
                || slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   563
                || slave->current_state == EC_SLAVE_STATE_INIT
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   564
                || slave->current_state == EC_SLAVE_STATE_UNKNOWN
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   565
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   566
                ) continue;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   567
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   568
        if (master->debug_level) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   569
            EC_DBG("Fetching SDO dictionary from slave %u.\n",
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   570
                    slave->ring_position);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   571
        }
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   572
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   573
        slave->sdo_dictionary_fetched = 1;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   574
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   575
        // start fetching SDO dictionary
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   576
        fsm->idle = 0;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   577
        fsm->slave = slave;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   578
        fsm->state = ec_fsm_master_state_sdo_dictionary;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   579
        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   580
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   581
        return;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   582
    }
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   583
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   584
    // check for pending SII write operations.
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   585
    if (ec_fsm_master_action_process_sii(fsm))
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   586
        return; // SII write request found
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   587
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   588
    // check for pending register requests.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   589
    if (ec_fsm_master_action_process_register(fsm))
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
   590
        return; // register request processing
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   591
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   592
    ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   593
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   594
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   595
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   596
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   597
/** Master action: Get state of next slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   598
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   599
void ec_fsm_master_action_next_slave_state(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   600
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   601
        )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   602
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   603
    ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   604
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   605
    // is there another slave to query?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   606
    fsm->slave++;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   607
    if (fsm->slave < master->slaves + master->slave_count) {
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   608
        // fetch state from next slave
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   609
        fsm->idle = 1;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   610
        ec_datagram_fprd(fsm->datagram,
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   611
                fsm->slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   612
        ec_datagram_zero(fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   613
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   614
        fsm->state = ec_fsm_master_state_read_state;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   615
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   616
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   617
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   618
    // all slaves processed
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   619
    ec_fsm_master_action_idle(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   620
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   621
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   622
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   623
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   624
/** Master action: Configure.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   625
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   626
void ec_fsm_master_action_configure(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   627
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   628
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   629
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   630
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   631
    ec_slave_t *slave = fsm->slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   632
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   633
    // Does the slave have to be configured?
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   634
    if ((slave->current_state != slave->requested_state
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   635
                || slave->force_config) && !slave->error_flag) {
1177
03d9640c9ce4 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   636
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   637
        // Start slave configuration, if it is allowed.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   638
        down(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   639
        if (!master->allow_config) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   640
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   641
        } else {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   642
            master->config_busy = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   643
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   644
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   645
            if (master->debug_level) {
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   646
                char old_state[EC_STATE_STRING_SIZE],
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   647
                     new_state[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   648
                ec_state_string(slave->current_state, old_state, 0);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   649
                ec_state_string(slave->requested_state, new_state, 0);
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   650
                EC_DBG("Changing state of slave %u from %s to %s%s.\n",
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   651
                        slave->ring_position, old_state, new_state,
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   652
                        slave->force_config ? " (forced)" : "");
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   653
            }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   654
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   655
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   656
            fsm->state = ec_fsm_master_state_configure_slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   657
            ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   658
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   659
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   660
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   661
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   662
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   663
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   664
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   665
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   666
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   667
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   668
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   669
/** Master state: READ STATE.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   670
 *
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   671
 * Fetches the AL state of a slave.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   672
 */
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   673
void ec_fsm_master_state_read_state(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   674
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   675
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   676
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   677
    ec_slave_t *slave = fsm->slave;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   678
    ec_datagram_t *datagram = fsm->datagram;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   679
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   680
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   681
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   682
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   683
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   684
        EC_ERR("Failed to receive AL state datagram for slave %u"
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   685
                " (datagram state %u)\n",
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   686
                slave->ring_position, datagram->state);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   687
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   688
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   689
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   690
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   691
    // did the slave not respond to its station address?
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   692
    if (datagram->working_counter != 1) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   693
        if (!slave->error_flag) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   694
            slave->error_flag = 1;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   695
            if (fsm->master->debug_level)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   696
                EC_DBG("Slave %u did not respond to state query.\n",
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   697
                        fsm->slave->ring_position);
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   698
        }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   699
        fsm->topology_change_pending = 1;
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   700
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   701
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   702
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   703
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   704
    // A single slave responded
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   705
    ec_slave_set_state(slave, EC_READ_U8(datagram->data));
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   706
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   707
    if (!slave->error_flag) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   708
        // Check, if new slave state has to be acknowledged
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   709
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   710
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   711
            fsm->state = ec_fsm_master_state_acknowledge;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   712
            ec_fsm_change_ack(&fsm->fsm_change, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   713
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   714
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   715
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   716
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   717
        // No acknowlegde necessary; check for configuration
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   718
        ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   719
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   720
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   721
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   722
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   723
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   724
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   725
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   726
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   727
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   728
/** Master state: ACKNOWLEDGE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   729
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   730
void ec_fsm_master_state_acknowledge(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   731
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   732
        )
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   733
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   734
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   735
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   736
    if (ec_fsm_change_exec(&fsm->fsm_change))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   737
        return;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   738
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   739
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   740
        fsm->slave->error_flag = 1;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   741
        EC_ERR("Failed to acknowledge state change on slave %u.\n",
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   742
               slave->ring_position);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   743
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   744
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   745
    ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   746
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   747
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   748
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   749
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   750
/** Master state: CLEAR ADDRESSES.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   751
 */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   752
void ec_fsm_master_state_clear_addresses(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   753
        ec_fsm_master_t *fsm /**< Master state machine. */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   754
        )
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   755
{
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   756
    ec_master_t *master = fsm->master;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   757
    ec_datagram_t *datagram = fsm->datagram;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   758
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   759
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   760
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   761
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   762
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   763
        EC_ERR("Failed to receive address clearing datagram (state %u).\n",
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   764
                datagram->state);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   765
        master->scan_busy = 0;
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   766
        wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   767
        ec_fsm_master_restart(fsm);
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   768
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   769
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   770
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   771
    if (datagram->working_counter != master->slave_count) {
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   772
        EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   773
                datagram->working_counter, master->slave_count);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   774
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   775
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   776
    if (master->debug_level)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   777
        EC_DBG("Sending broadcast-write to measure transmission delays.\n");
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   778
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   779
    ec_datagram_bwr(datagram, 0x0900, 1);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   780
    ec_datagram_zero(datagram);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   781
    fsm->retries = EC_FSM_RETRIES;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   782
    fsm->state = ec_fsm_master_state_dc_measure_delays;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   783
}
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   784
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   785
/*****************************************************************************/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   786
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   787
/** Master state: DC MEASURE DELAYS.
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   788
 */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   789
void ec_fsm_master_state_dc_measure_delays(
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   790
        ec_fsm_master_t *fsm /**< Master state machine. */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   791
        )
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   792
{
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   793
    ec_master_t *master = fsm->master;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   794
    ec_datagram_t *datagram = fsm->datagram;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   795
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   796
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   797
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   798
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   799
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   800
        EC_ERR("Failed to receive delay measuring datagram (state %u).\n",
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   801
                datagram->state);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   802
        master->scan_busy = 0;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   803
        wake_up_interruptible(&master->scan_queue);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   804
        ec_fsm_master_restart(fsm);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   805
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   806
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   807
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   808
    if (master->debug_level)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   809
        EC_DBG("%u slaves responded to delay measuring.\n",
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   810
                datagram->working_counter);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
   811
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   812
    EC_INFO("Scanning bus.\n");
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   813
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   814
    // begin scanning of slaves
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   815
    fsm->slave = master->slaves;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   816
    fsm->state = ec_fsm_master_state_scan_slave;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   817
    ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   818
    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   819
}
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   820
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   821
/*****************************************************************************/
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   822
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   823
/** Master state: SCAN SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   824
 *
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   825
 * Executes the sub-statemachine for the scanning of a slave.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   826
 */
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   827
void ec_fsm_master_state_scan_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   828
        ec_fsm_master_t *fsm /**< Master state machine. */
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   829
        )
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   830
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
    ec_master_t *master = fsm->master;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   832
#ifdef EC_EOE
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   833
    ec_slave_t *slave = fsm->slave;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   834
#endif
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   835
    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   836
        return;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   837
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   838
#ifdef EC_EOE
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   839
    if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   840
        // create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   841
        ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   842
        if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   843
            EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   844
                    slave->ring_position);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   845
        } else if (ec_eoe_init(eoe, slave)) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   846
            EC_ERR("Failed to init EoE handler for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   847
                    slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   848
            kfree(eoe);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   849
        } else {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   850
            list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   851
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   852
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   853
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   854
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   855
    // another slave to fetch?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   856
    fsm->slave++;
1002
0e1aaeb3540d Fixed bug in slave scanning, causing a segmentation fault.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   857
    if (fsm->slave < master->slaves + master->slave_count) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   858
        ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   859
        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   860
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   861
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   862
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   863
    EC_INFO("Bus scanning completed in %u ms.\n",
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   864
            (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   865
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   866
    master->scan_busy = 0;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   867
    wake_up_interruptible(&master->scan_queue);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   868
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   869
    ec_master_calc_dc(master);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1444
diff changeset
   870
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   871
    // Attach slave configurations
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   872
    ec_master_attach_slave_configs(master);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   873
716
ac2a81a33d3d Minor fix.
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   874
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   875
    // check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   876
    ec_master_eoe_start(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   877
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   878
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   879
    ec_fsm_master_restart(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   880
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   881
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   882
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   883
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   884
/** Master state: CONFIGURE SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   885
 *
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   886
 * Starts configuring a slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   887
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   888
void ec_fsm_master_state_configure_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   889
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   890
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   891
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   892
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   893
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   894
    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   895
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   896
1277
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   897
    fsm->slave->force_config = 0;
1189e040fe12 merge -c1521 branches/stable-1.4: Fixed race concerning ec_slave_config_state->operational.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   898
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   899
    // configuration finished
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   900
    master->config_busy = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   901
    wake_up_interruptible(&master->config_queue);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   902
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   903
    if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   904
        // TODO: mark slave_config as failed.
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   905
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   906
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   907
    fsm->idle = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   908
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   909
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   910
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   911
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   912
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   913
/** Master state: WRITE SII.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   914
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   915
void ec_fsm_master_state_write_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   916
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   917
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   918
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   919
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   920
    ec_sii_write_request_t *request = fsm->sii_request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   921
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   922
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   923
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   924
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   925
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   926
        EC_ERR("Failed to write SII data to slave %u.\n",
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   927
                slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   928
        request->state = EC_INT_REQUEST_FAILURE;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   929
        wake_up(&master->sii_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   930
        ec_fsm_master_restart(fsm);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   931
        return;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   932
    }
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   933
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   934
    fsm->sii_index++;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   935
    if (fsm->sii_index < request->nwords) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   936
        ec_fsm_sii_write(&fsm->fsm_sii, slave,
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   937
                request->offset + fsm->sii_index,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   938
                request->words + fsm->sii_index,
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   939
                EC_FSM_SII_USE_CONFIGURED_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   940
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   941
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   942
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   943
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   944
    // finished writing SII
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   945
    if (master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   946
        EC_DBG("Finished writing %zu words of SII data to slave %u.\n",
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   947
                request->nwords, slave->ring_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   948
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   949
    if (request->offset <= 4 && request->offset + request->nwords > 4) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   950
        // alias was written
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   951
        slave->sii.alias = EC_READ_U16(request->words + 4);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   952
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   953
    // TODO: Evaluate other SII contents!
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   954
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   955
    request->state = EC_INT_REQUEST_SUCCESS;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   956
    wake_up(&master->sii_queue);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   957
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   958
    // check for another SII write request
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   959
    if (ec_fsm_master_action_process_sii(fsm))
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   960
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   961
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   962
    ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   963
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   964
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   965
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   966
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   967
/** Master state: WRITE FOE.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   968
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   969
void ec_fsm_master_state_foe_request(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1444
diff changeset
   970
        ec_fsm_master_t *fsm /**< Master state machine. */
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   971
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   972
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   973
    ec_master_t *master = fsm->master;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   974
    ec_foe_request_t *request = fsm->foe_request;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   975
    ec_slave_t *slave = fsm->slave;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   976
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   977
    if (ec_fsm_foe_exec(&fsm->fsm_foe))
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   978
        return;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   979
1444
45d64e8e3675 Unset idle flag while processing FoE requests.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   980
    fsm->idle = 1;
45d64e8e3675 Unset idle flag while processing FoE requests.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   981
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   982
    if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   983
        EC_ERR("Failed to handle FoE request to slave %u.\n",
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   984
                slave->ring_position);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   985
        request->state = EC_INT_REQUEST_FAILURE;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   986
        wake_up(&master->foe_queue);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   987
        ec_fsm_master_restart(fsm);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   988
        return;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   989
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   990
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   991
    // finished transferring FoE
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   992
    if (master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   993
        EC_DBG("Successfully transferred %zu bytes of FoE data from/to"
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   994
                " slave %u.\n", request->data_size, slave->ring_position);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   995
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   996
    request->state = EC_INT_REQUEST_SUCCESS;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   997
    wake_up(&master->foe_queue);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   998
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   999
    ec_fsm_master_restart(fsm);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1000
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1001
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1002
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1003
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1004
/** Master state: SDO DICTIONARY.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1005
 */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
  1006
void ec_fsm_master_state_sdo_dictionary(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1007
        ec_fsm_master_t *fsm /**< Master state machine. */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
  1008
        )
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1009
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1010
    ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1011
    ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1012
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1013
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1014
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1015
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1016
        ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1017
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1018
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1019
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1020
    // SDO dictionary fetching finished
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1021
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1022
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1023
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1024
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1025
        EC_DBG("Fetched %u SDOs and %u entries from slave %u.\n",
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1026
               sdo_count, entry_count, slave->ring_position);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1027
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1028
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1029
    // attach pdo names from dictionary
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1030
    ec_slave_attach_pdo_names(slave);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
  1031
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1032
    ec_fsm_master_restart(fsm);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1033
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1034
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1035
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1036
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1037
/** Master state: SDO REQUEST.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1038
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1039
void ec_fsm_master_state_sdo_request(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1040
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
  1041
        )
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1042
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1043
    ec_master_t *master = fsm->master;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
  1044
    ec_sdo_request_t *request = fsm->sdo_request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1045
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1046
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1047
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1048
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1049
        EC_DBG("Failed to process SDO request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1050
                fsm->slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1051
        request->state = EC_INT_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1052
        wake_up(&master->sdo_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1053
        ec_fsm_master_restart(fsm);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1054
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1055
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1056
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
  1057
    // SDO request finished
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1058
    request->state = EC_INT_REQUEST_SUCCESS;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1059
    wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1060
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1061
    if (master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1062
        EC_DBG("Finished SDO request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1063
                fsm->slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1064
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1065
    // check for another SDO request
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1066
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1067
        return; // processing another request
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1068
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1069
    ec_fsm_master_restart(fsm);
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1070
}
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1071
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1072
/*****************************************************************************/
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1073
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1074
/** Master state: REG REQUEST.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1075
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1076
void ec_fsm_master_state_reg_request(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1077
        ec_fsm_master_t *fsm /**< Master state machine. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1078
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1079
{
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1080
    ec_master_t *master = fsm->master;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1081
    ec_datagram_t *datagram = fsm->datagram;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1082
    ec_reg_request_t *request = fsm->reg_request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1083
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1084
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1085
        EC_ERR("Failed to receive register request datagram (state %u).\n",
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1086
                datagram->state);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1087
        request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1088
        wake_up(&master->reg_queue);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1089
        ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1090
        return;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1091
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1092
    
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1093
    if (datagram->working_counter == 1) {
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1094
        if (request->dir == EC_DIR_INPUT) { // read request
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1095
            if (request->data)
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1096
                kfree(request->data);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1097
            request->data = kmalloc(request->length, GFP_KERNEL);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1098
            if (!request->data) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1099
                EC_ERR("Failed to allocate %zu bytes of memory for"
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1100
                        " register data.\n", request->length);
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1101
                request->state = EC_INT_REQUEST_FAILURE;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1102
                wake_up(&master->reg_queue);
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1103
                ec_fsm_master_restart(fsm);
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1104
                return;
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1105
            }
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1106
            memcpy(request->data, datagram->data, request->length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1107
        }
1385
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1108
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1109
        request->state = EC_INT_REQUEST_SUCCESS;
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1110
    } else {
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1111
        request->state = EC_INT_REQUEST_FAILURE;
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1112
    }
241a7511eee9 Process working counter of phy_* commands.
Florian Pose <fp@igh-essen.com>
parents: 1380
diff changeset
  1113
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1114
    wake_up(&master->reg_queue);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1115
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1116
    // check for another register request
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1386
diff changeset
  1117
    if (ec_fsm_master_action_process_register(fsm))
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1118
        return; // processing another request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1119
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1120
    ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1121
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1122
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
  1123
/*****************************************************************************/