author | Florian Pose <fp@igh-essen.com> |
Thu, 09 Aug 2007 14:38:18 +0000 | |
changeset 689 | 880b556a6efc |
parent 637 | d5d04c868e0e |
child 696 | 24fac09b5b26 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave state machines. |
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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 "fsm_slave.h" |
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#include "fsm_mapping.h" |
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/*****************************************************************************/ |
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *); |
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void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *); |
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void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *); |
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void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *); |
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void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *); |
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void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *); |
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void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_mapconf(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_enter_mapconf(ec_fsm_slave_t *); |
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void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *); |
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void ec_fsm_slave_state_end(ec_fsm_slave_t *); |
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void ec_fsm_slave_state_error(ec_fsm_slave_t *); |
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/*****************************************************************************/ |
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/** |
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Constructor. |
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*/ |
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void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */ |
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ec_datagram_t *datagram /**< datagram structure to use */ |
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) |
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{ |
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fsm->datagram = datagram; |
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// init sub state machines |
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ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram); |
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ec_fsm_change_init(&fsm->fsm_change, fsm->datagram); |
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ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); |
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ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe); |
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} |
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/*****************************************************************************/ |
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/** |
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changeset
|
102 |
Destructor. |
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Correct behaviour of master state machine in RT mode.
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diff
changeset
|
103 |
*/ |
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Correct behaviour of master state machine in RT mode.
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changeset
|
104 |
|
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
105 |
void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */) |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
106 |
{ |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
107 |
// clear sub state machines |
433
100f51f28cf2
Layed out SII state machine.
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parents:
430
diff
changeset
|
108 |
ec_fsm_sii_clear(&fsm->fsm_sii); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
109 |
ec_fsm_change_clear(&fsm->fsm_change); |
436
63214beb641d
Layed out CoE state machine.
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parents:
435
diff
changeset
|
110 |
ec_fsm_coe_clear(&fsm->fsm_coe); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
111 |
ec_fsm_mapping_clear(&fsm->fsm_map); |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
112 |
} |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
113 |
|
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
114 |
/*****************************************************************************/ |
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changeset
|
115 |
|
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changeset
|
116 |
/** |
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|
117 |
* Start slave scan state machine. |
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|
118 |
*/ |
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changeset
|
119 |
|
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
120 |
void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */ |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
121 |
ec_slave_t *slave /**< slave to configure */ |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
122 |
) |
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changeset
|
123 |
{ |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
124 |
fsm->slave = slave; |
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|
125 |
fsm->state = ec_fsm_slave_scan_state_start; |
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|
126 |
} |
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|
127 |
|
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changeset
|
128 |
/*****************************************************************************/ |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
129 |
|
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|
130 |
/** |
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|
131 |
* Start slave configuration state machine. |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
132 |
*/ |
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|
133 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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|
134 |
void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
135 |
ec_slave_t *slave /**< slave to configure */ |
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Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
136 |
) |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
137 |
{ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
138 |
fsm->slave = slave; |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
139 |
fsm->state = ec_fsm_slave_conf_state_start; |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
140 |
} |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
141 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
142 |
/*****************************************************************************/ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
143 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
144 |
/** |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
145 |
\return false, if state machine has terminated |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
146 |
*/ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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changeset
|
147 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
148 |
int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */) |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
149 |
{ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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changeset
|
150 |
return fsm->state != ec_fsm_slave_state_end |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
151 |
&& fsm->state != ec_fsm_slave_state_error; |
238
b4960499098f
Added finite state machine (FSM) processing.
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parents:
diff
changeset
|
152 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
154 |
/*****************************************************************************/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
|
260
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
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parents:
259
diff
changeset
|
156 |
/** |
5fe7df7f2433
Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
157 |
Executes the current state of the state machine. |
505
bc443ca0077f
State machines re-send datagrams on timeout.
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parents:
484
diff
changeset
|
158 |
If the state machine's datagram is not sent or received yet, the execution |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
159 |
of the state machine is delayed to the next cycle. |
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
160 |
\return false, if state machine has terminated |
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
161 |
*/ |
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
162 |
|
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
523
diff
changeset
|
163 |
int ec_fsm_slave_exec(ec_fsm_slave_t *fsm /**< slave state machine */) |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
164 |
{ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
165 |
if (fsm->datagram->state == EC_DATAGRAM_SENT |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
523
diff
changeset
|
166 |
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) { |
505
bc443ca0077f
State machines re-send datagrams on timeout.
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parents:
484
diff
changeset
|
167 |
// datagram was not sent or received yet. |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
523
diff
changeset
|
168 |
return ec_fsm_slave_running(fsm); |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
169 |
} |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
170 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
171 |
fsm->state(fsm); |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
172 |
return ec_fsm_slave_running(fsm); |
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
|
173 |
} |
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
|
174 |
|
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
|
175 |
/*****************************************************************************/ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
523
diff
changeset
|
176 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
177 |
/** |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
178 |
\return true, if the state machine terminated gracefully |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
179 |
*/ |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
180 |
|
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
523
diff
changeset
|
181 |
int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */) |
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
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diff
changeset
|
182 |
{ |
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
|
183 |
return fsm->state == ec_fsm_slave_state_end; |
446 | 184 |
} |
185 |
||
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
/****************************************************************************** |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
187 |
* slave scan state machine |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
*****************************************************************************/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
191 |
Slave scan state: START. |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
First state of the slave state machine. Writes the station address to the |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
slave, according to its ring position. |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
*/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
|
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
523
diff
changeset
|
196 |
void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
197 |
{ |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
// write station address |
528
f789bdd78b54
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents:
523
diff
changeset
|
199 |
ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2); |
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
|
200 |
EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
201 |
fsm->retries = EC_FSM_RETRIES; |
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
|
202 |
fsm->state = ec_fsm_slave_scan_state_address; |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
203 |
} |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
204 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
205 |
/*****************************************************************************/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
206 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
207 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
208 |
Slave scan state: ADDRESS. |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
209 |
*/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
210 |
|
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
|
211 |
void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
212 |
{ |
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
|
213 |
ec_datagram_t *datagram = fsm->datagram; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
214 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
215 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
216 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
217 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
218 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
219 |
fsm->state = ec_fsm_slave_state_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
220 |
EC_ERR("Failed to receive station address datagram for slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
221 |
" (datagram state %i)\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
222 |
fsm->slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
223 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
224 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
225 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
226 |
if (datagram->working_counter != 1) { |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
227 |
fsm->slave->error_flag = 1; |
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
|
228 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
229 |
EC_ERR("Failed to write station address - slave %i did not respond.\n", |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
fsm->slave->ring_position); |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
231 |
return; |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
232 |
} |
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
233 |
|
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
234 |
// Read AL state |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
235 |
ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
236 |
fsm->retries = EC_FSM_RETRIES; |
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
|
237 |
fsm->state = ec_fsm_slave_scan_state_state; |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
238 |
} |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
239 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
240 |
/*****************************************************************************/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
241 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
242 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
243 |
Slave scan state: STATE. |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
244 |
*/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
245 |
|
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
|
246 |
void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
247 |
{ |
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
|
248 |
ec_datagram_t *datagram = fsm->datagram; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
249 |
ec_slave_t *slave = fsm->slave; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
250 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
251 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
252 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
253 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
254 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
255 |
fsm->state = ec_fsm_slave_state_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
256 |
EC_ERR("Failed to receive AL state datagram from slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
257 |
" (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
258 |
fsm->slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
259 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
260 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
261 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
262 |
if (datagram->working_counter != 1) { |
291
0b1f877cf3f1
Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents:
290
diff
changeset
|
263 |
fsm->slave->error_flag = 1; |
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
|
264 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
265 |
EC_ERR("Failed to read AL state - slave %i did not respond.\n", |
255
6b916cce7f27
Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents:
254
diff
changeset
|
266 |
fsm->slave->ring_position); |
6b916cce7f27
Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents:
254
diff
changeset
|
267 |
return; |
6b916cce7f27
Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents:
254
diff
changeset
|
268 |
} |
6b916cce7f27
Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents:
254
diff
changeset
|
269 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
270 |
slave->current_state = EC_READ_U8(datagram->data); |
402
03e31ac14047
Renamed EC_ACK to EC_SLAVE_STATE_ACK_ERR
Florian Pose <fp@igh-essen.com>
parents:
398
diff
changeset
|
271 |
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) { |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
272 |
char state_str[EC_STATE_STRING_SIZE]; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
273 |
ec_state_string(slave->current_state, state_str); |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
274 |
EC_WARN("Slave %i has state error bit set (%s)!\n", |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
275 |
slave->ring_position, state_str); |
255
6b916cce7f27
Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents:
254
diff
changeset
|
276 |
} |
6b916cce7f27
Read current AL status of slaves while scanning bus.
Florian Pose <fp@igh-essen.com>
parents:
254
diff
changeset
|
277 |
|
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
278 |
// read base data |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
279 |
ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
280 |
fsm->retries = EC_FSM_RETRIES; |
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
|
281 |
fsm->state = ec_fsm_slave_scan_state_base; |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
282 |
} |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
283 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
284 |
/*****************************************************************************/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
285 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
286 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
287 |
Slave scan state: BASE. |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
288 |
*/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
289 |
|
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
|
290 |
void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
291 |
{ |
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
|
292 |
ec_datagram_t *datagram = fsm->datagram; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
293 |
ec_slave_t *slave = fsm->slave; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
294 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
295 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
296 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
297 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
298 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
299 |
fsm->state = ec_fsm_slave_state_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
300 |
EC_ERR("Failed to receive base data datagram for slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
301 |
" (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
302 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
303 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
304 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
305 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
306 |
if (datagram->working_counter != 1) { |
291
0b1f877cf3f1
Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents:
290
diff
changeset
|
307 |
fsm->slave->error_flag = 1; |
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
|
308 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
309 |
EC_ERR("Failed to read base data - slave %i did not respond.\n", |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
slave->ring_position); |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
311 |
return; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
314 |
slave->base_type = EC_READ_U8 (datagram->data); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
315 |
slave->base_revision = EC_READ_U8 (datagram->data + 1); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
316 |
slave->base_build = EC_READ_U16(datagram->data + 2); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
317 |
slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4); |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
if (slave->base_fmmu_count > EC_MAX_FMMUS) |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
slave->base_fmmu_count = EC_MAX_FMMUS; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
// read data link status |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
323 |
ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
324 |
fsm->retries = EC_FSM_RETRIES; |
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
|
325 |
fsm->state = ec_fsm_slave_scan_state_datalink; |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
326 |
} |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
327 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
328 |
/*****************************************************************************/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
329 |
|
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
330 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
331 |
Slave scan state: DATALINK. |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
332 |
*/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
333 |
|
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
|
334 |
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
335 |
{ |
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
|
336 |
ec_datagram_t *datagram = fsm->datagram; |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
ec_slave_t *slave = fsm->slave; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
uint16_t dl_status; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
unsigned int i; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
341 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
342 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
343 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
344 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
345 |
fsm->state = ec_fsm_slave_state_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
346 |
EC_ERR("Failed to receive DL status datagram from slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
347 |
" (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
348 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
349 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
350 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
351 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
352 |
if (datagram->working_counter != 1) { |
291
0b1f877cf3f1
Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents:
290
diff
changeset
|
353 |
fsm->slave->error_flag = 1; |
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
|
354 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
355 |
EC_ERR("Failed to read DL status - slave %i did not respond.\n", |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
slave->ring_position); |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
return; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
360 |
dl_status = EC_READ_U16(datagram->data); |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
for (i = 0; i < 4; i++) { |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
|
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
367 |
// Start fetching EEPROM size |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
368 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
369 |
fsm->sii_offset = 0x0040; // first category header |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
370 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE); |
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
|
371 |
fsm->state = ec_fsm_slave_scan_state_eeprom_size; |
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
|
372 |
fsm->state(fsm); // execute state immediately |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
374 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
375 |
/*****************************************************************************/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
376 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
378 |
Slave scan state: EEPROM SIZE. |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
379 |
*/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
380 |
|
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
|
381 |
void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */) |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
382 |
{ |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
383 |
ec_slave_t *slave = fsm->slave; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
384 |
uint16_t cat_type, cat_size; |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
385 |
|
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
386 |
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
|
387 |
|
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
388 |
if (!ec_fsm_sii_success(&fsm->fsm_sii)) { |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
389 |
fsm->slave->error_flag = 1; |
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
|
390 |
fsm->state = ec_fsm_slave_state_error; |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
391 |
EC_ERR("Failed to read EEPROM size of slave %i.\n", |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
392 |
slave->ring_position); |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
return; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
395 |
|
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
396 |
cat_type = EC_READ_U16(fsm->fsm_sii.value); |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
397 |
cat_size = EC_READ_U16(fsm->fsm_sii.value + 2); |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
398 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
399 |
if (cat_type != 0xFFFF) { // not the last category |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
400 |
fsm->sii_offset += cat_size + 2; |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
401 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
402 |
EC_FSM_SII_NODE); |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
403 |
ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
404 |
return; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
405 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
406 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
407 |
slave->eeprom_size = (fsm->sii_offset + 1) * 2; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
408 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
409 |
if (slave->eeprom_data) { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
410 |
EC_INFO("Freeing old EEPROM data on slave %i...\n", |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
411 |
slave->ring_position); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
412 |
kfree(slave->eeprom_data); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
413 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
414 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
415 |
if (!(slave->eeprom_data = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
416 |
(uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) { |
291
0b1f877cf3f1
Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents:
290
diff
changeset
|
417 |
fsm->slave->error_flag = 1; |
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
|
418 |
fsm->state = ec_fsm_slave_state_error; |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
419 |
EC_ERR("Failed to allocate EEPROM data on slave %i.\n", |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
420 |
slave->ring_position); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
421 |
return; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
422 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
423 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
424 |
// Start fetching EEPROM contents |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
425 |
|
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
|
426 |
fsm->state = ec_fsm_slave_scan_state_eeprom_data; |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
427 |
fsm->sii_offset = 0x0000; |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
428 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE); |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
429 |
ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
430 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
/*****************************************************************************/ |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
435 |
Slave scan state: EEPROM DATA. |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
436 |
*/ |
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
437 |
|
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
|
438 |
void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */) |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
439 |
{ |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
440 |
ec_slave_t *slave = fsm->slave; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
441 |
uint16_t *cat_word, cat_type, cat_size; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
442 |
|
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
443 |
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
|
444 |
|
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
445 |
if (!ec_fsm_sii_success(&fsm->fsm_sii)) { |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
446 |
fsm->slave->error_flag = 1; |
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
|
447 |
fsm->state = ec_fsm_slave_state_error; |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
448 |
EC_ERR("Failed to fetch EEPROM contents of slave %i.\n", |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
449 |
slave->ring_position); |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
return; |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
452 |
|
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
453 |
// 2 words fetched |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
454 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
455 |
if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
456 |
memcpy(slave->eeprom_data + fsm->sii_offset * 2, |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
457 |
fsm->fsm_sii.value, 4); |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
458 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
459 |
else { // copy the last word |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
460 |
memcpy(slave->eeprom_data + fsm->sii_offset * 2, |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
461 |
fsm->fsm_sii.value, 2); |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
462 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
463 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
464 |
if (fsm->sii_offset + 2 < slave->eeprom_size / 2) { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
465 |
// fetch the next 2 words |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
466 |
fsm->sii_offset += 2; |
433
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
467 |
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
468 |
EC_FSM_SII_NODE); |
100f51f28cf2
Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
469 |
ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
470 |
return; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
471 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
472 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
473 |
// Evaluate EEPROM contents |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
474 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
475 |
slave->sii_alias = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
476 |
EC_READ_U16(slave->eeprom_data + 2 * 0x0004); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
477 |
slave->sii_vendor_id = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
478 |
EC_READ_U32(slave->eeprom_data + 2 * 0x0008); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
479 |
slave->sii_product_code = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
480 |
EC_READ_U32(slave->eeprom_data + 2 * 0x000A); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
481 |
slave->sii_revision_number = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
482 |
EC_READ_U32(slave->eeprom_data + 2 * 0x000C); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
483 |
slave->sii_serial_number = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
484 |
EC_READ_U32(slave->eeprom_data + 2 * 0x000E); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
485 |
slave->sii_rx_mailbox_offset = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
486 |
EC_READ_U16(slave->eeprom_data + 2 * 0x0018); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
487 |
slave->sii_rx_mailbox_size = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
488 |
EC_READ_U16(slave->eeprom_data + 2 * 0x0019); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
489 |
slave->sii_tx_mailbox_offset = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
490 |
EC_READ_U16(slave->eeprom_data + 2 * 0x001A); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
491 |
slave->sii_tx_mailbox_size = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
492 |
EC_READ_U16(slave->eeprom_data + 2 * 0x001B); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
493 |
slave->sii_mailbox_protocols = |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
494 |
EC_READ_U16(slave->eeprom_data + 2 * 0x001C); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
495 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
496 |
// evaluate category data |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
497 |
cat_word = (uint16_t *) slave->eeprom_data + 0x0040; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
498 |
while (EC_READ_U16(cat_word) != 0xFFFF) { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
499 |
cat_type = EC_READ_U16(cat_word) & 0x7FFF; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
500 |
cat_size = EC_READ_U16(cat_word + 1); |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
501 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
502 |
switch (cat_type) { |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
503 |
case 0x000A: |
620
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
504 |
if (ec_slave_fetch_sii_strings( |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
505 |
slave, (uint8_t *) (cat_word + 2))) |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
506 |
goto end; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
507 |
break; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
508 |
case 0x001E: |
620
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
509 |
ec_slave_fetch_sii_general( |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
510 |
slave, (uint8_t *) (cat_word + 2)); |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
511 |
break; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
512 |
case 0x0028: |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
513 |
break; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
514 |
case 0x0029: |
620
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
515 |
if (ec_slave_fetch_sii_syncs( |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
516 |
slave, (uint8_t *) (cat_word + 2), cat_size)) |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
517 |
goto end; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
518 |
break; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
519 |
case 0x0032: |
620
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
520 |
if (ec_slave_fetch_sii_pdos( |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
521 |
slave, (uint8_t *) (cat_word + 2), |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
522 |
cat_size, EC_TX_PDO)) |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
523 |
goto end; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
524 |
break; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
525 |
case 0x0033: |
620
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
526 |
if (ec_slave_fetch_sii_pdos( |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
527 |
slave, (uint8_t *) (cat_word + 2), |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
618
diff
changeset
|
528 |
cat_size, EC_RX_PDO)) |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
529 |
goto end; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
530 |
break; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
531 |
default: |
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
|
532 |
if (fsm->slave->master->debug_level) |
461
b9eda9235173
Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents:
459
diff
changeset
|
533 |
EC_WARN("Unknown category type 0x%04X in slave %i.\n", |
b9eda9235173
Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents:
459
diff
changeset
|
534 |
cat_type, slave->ring_position); |
266
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
535 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
536 |
|
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
537 |
cat_word += cat_size + 2; |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
538 |
} |
0234b0c26c52
Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents:
262
diff
changeset
|
539 |
|
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
|
540 |
fsm->state = ec_fsm_slave_state_end; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
541 |
return; |
310
b7e7709fd40e
Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
309
diff
changeset
|
542 |
|
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
543 |
end: |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
544 |
EC_ERR("Failed to analyze category data.\n"); |
291
0b1f877cf3f1
Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents:
290
diff
changeset
|
545 |
fsm->slave->error_flag = 1; |
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
|
546 |
fsm->state = ec_fsm_slave_state_error; |
308
d50b139c8601
Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
306
diff
changeset
|
547 |
} |
d50b139c8601
Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
306
diff
changeset
|
548 |
|
d50b139c8601
Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
306
diff
changeset
|
549 |
/****************************************************************************** |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
550 |
* slave configuration state machine |
308
d50b139c8601
Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
306
diff
changeset
|
551 |
*****************************************************************************/ |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
552 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
553 |
/** |
456
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
554 |
Slave configuration state: START. |
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
555 |
*/ |
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
556 |
|
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
|
557 |
void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
558 |
{ |
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
|
559 |
if (fsm->slave->master->debug_level) { |
456
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
560 |
EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position); |
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
561 |
} |
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
562 |
|
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
563 |
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT); |
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
564 |
ec_fsm_change_exec(&fsm->fsm_change); |
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
|
565 |
fsm->state = ec_fsm_slave_conf_state_init; |
456
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
566 |
} |
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
567 |
|
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
568 |
/*****************************************************************************/ |
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
569 |
|
dea14706efc2
Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
570 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
571 |
Slave configuration state: INIT. |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
572 |
*/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
573 |
|
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
|
574 |
void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
575 |
{ |
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
|
576 |
ec_master_t *master = fsm->slave->master; |
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
|
577 |
ec_slave_t *slave = fsm->slave; |
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
|
578 |
ec_datagram_t *datagram = fsm->datagram; |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
579 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
580 |
if (ec_fsm_change_exec(&fsm->fsm_change)) return; |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
581 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
582 |
if (!ec_fsm_change_success(&fsm->fsm_change)) { |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
583 |
slave->error_flag = 1; |
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
|
584 |
fsm->state = ec_fsm_slave_state_error; |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
585 |
return; |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
586 |
} |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
587 |
|
523
584a4f60b067
Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents:
522
diff
changeset
|
588 |
slave->self_configured = 1; |
584a4f60b067
Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents:
522
diff
changeset
|
589 |
|
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
590 |
if (master->debug_level) { |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
591 |
EC_DBG("Slave %i is now in INIT.\n", slave->ring_position); |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
592 |
} |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
593 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
594 |
// check and reset CRC fault counters |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
595 |
//ec_slave_check_crc(slave); |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
596 |
// TODO: Implement state machine for CRC checking. |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
597 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
598 |
if (!slave->base_fmmu_count) { // skip FMMU configuration |
623
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
599 |
ec_fsm_slave_conf_enter_mbox_sync(fsm); |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
600 |
return; |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
601 |
} |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
602 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
603 |
if (master->debug_level) |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
604 |
EC_DBG("Clearing FMMU configurations of slave %i...\n", |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
605 |
slave->ring_position); |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
606 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
607 |
// clear FMMU configurations |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
608 |
ec_datagram_npwr(datagram, slave->station_address, |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
609 |
0x0600, EC_FMMU_SIZE * slave->base_fmmu_count); |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
610 |
memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
611 |
fsm->retries = EC_FSM_RETRIES; |
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
|
612 |
fsm->state = ec_fsm_slave_conf_state_clear_fmmus; |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
613 |
} |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
614 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
615 |
/*****************************************************************************/ |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
616 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
617 |
/** |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
618 |
Slave configuration state: CLEAR FMMU. |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
619 |
*/ |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
620 |
|
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
|
621 |
void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm |
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
|
622 |
/**< slave state machine */) |
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
|
623 |
{ |
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
|
624 |
ec_datagram_t *datagram = fsm->datagram; |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
625 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
626 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
627 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
628 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
629 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
630 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
631 |
EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n", |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
632 |
fsm->slave->ring_position); |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
633 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
634 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
635 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
636 |
if (datagram->working_counter != 1) { |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
637 |
fsm->slave->error_flag = 1; |
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
|
638 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
639 |
EC_ERR("Failed to clear FMMUs - slave %i did not respond.\n", |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
640 |
fsm->slave->ring_position); |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
641 |
return; |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
642 |
} |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
643 |
|
623
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
644 |
ec_fsm_slave_conf_enter_mbox_sync(fsm); |
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
645 |
} |
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
646 |
|
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
647 |
/*****************************************************************************/ |
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
648 |
|
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
649 |
/** |
628
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
650 |
*/ |
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
651 |
|
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
652 |
void ec_fsm_slave_conf_enter_mbox_sync( |
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
653 |
ec_fsm_slave_t *fsm /**< slave state machine */ |
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
654 |
) |
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
|
655 |
{ |
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
|
656 |
ec_master_t *master = fsm->slave->master; |
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
|
657 |
ec_slave_t *slave = fsm->slave; |
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
|
658 |
ec_datagram_t *datagram = fsm->datagram; |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
659 |
unsigned int i; |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
660 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
661 |
// slave is now in INIT |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
662 |
if (slave->current_state == slave->requested_state) { |
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
|
663 |
fsm->state = ec_fsm_slave_state_end; // successful |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
664 |
if (master->debug_level) { |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
665 |
EC_DBG("Finished configuration of slave %i.\n", |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
666 |
slave->ring_position); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
667 |
} |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
668 |
return; |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
669 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
670 |
|
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
671 |
if (!slave->sii_mailbox_protocols || slave->sii_sync_count < 2) { |
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
672 |
// no mailbox sync managers to be configured |
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
|
673 |
ec_fsm_slave_conf_enter_preop(fsm); |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
674 |
return; |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
675 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
676 |
|
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
677 |
if (master->debug_level) { |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
678 |
EC_DBG("Configuring mailbox sync managers of slave %i.\n", |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
679 |
slave->ring_position); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
680 |
} |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
681 |
|
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
682 |
// configure sync managers |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
683 |
ec_datagram_npwr(datagram, slave->station_address, 0x0800, |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
684 |
EC_SYNC_SIZE * slave->sii_sync_count); |
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
685 |
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count); |
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
686 |
|
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
687 |
for (i = 0; i < 2; i++) { |
628
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
688 |
ec_sync_config(&slave->sii_syncs[i], |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
689 |
datagram->data + EC_SYNC_SIZE * i); |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
690 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
691 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
692 |
fsm->retries = EC_FSM_RETRIES; |
623
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
693 |
fsm->state = ec_fsm_slave_conf_state_mbox_sync; |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
694 |
} |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
695 |
|
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
696 |
/*****************************************************************************/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
697 |
|
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
698 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
699 |
Slave configuration state: SYNC. |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
700 |
*/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
701 |
|
623
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
702 |
void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
703 |
{ |
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
|
704 |
ec_datagram_t *datagram = fsm->datagram; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
705 |
ec_slave_t *slave = fsm->slave; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
706 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
707 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
708 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
709 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
710 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
711 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
712 |
EC_ERR("Failed to receive sync manager configuration datagram for" |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
713 |
" slave %i (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
714 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
715 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
716 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
717 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
718 |
if (datagram->working_counter != 1) { |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
719 |
slave->error_flag = 1; |
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
|
720 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
721 |
EC_ERR("Failed to set sync managers - slave %i did not respond.\n", |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
722 |
slave->ring_position); |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
723 |
return; |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
724 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
725 |
|
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
|
726 |
ec_fsm_slave_conf_enter_preop(fsm); |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
727 |
} |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
728 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
729 |
/*****************************************************************************/ |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
730 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
731 |
/** |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
732 |
*/ |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
733 |
|
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
|
734 |
void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
735 |
{ |
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
|
736 |
fsm->state = ec_fsm_slave_conf_state_preop; |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
737 |
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
738 |
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
739 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
740 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
741 |
/*****************************************************************************/ |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
742 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
743 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
744 |
Slave configuration state: PREOP. |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
745 |
*/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
746 |
|
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
|
747 |
void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
748 |
{ |
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
|
749 |
ec_slave_t *slave = fsm->slave; |
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
|
750 |
ec_master_t *master = fsm->slave->master; |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
751 |
|
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
752 |
if (ec_fsm_change_exec(&fsm->fsm_change)) return; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
753 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
754 |
if (!ec_fsm_change_success(&fsm->fsm_change)) { |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
755 |
slave->error_flag = 1; |
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
|
756 |
fsm->state = ec_fsm_slave_state_error; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
757 |
return; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
758 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
759 |
|
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
760 |
// slave is now in PREOP |
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
|
761 |
slave->jiffies_preop = fsm->datagram->jiffies_received; |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
762 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
763 |
if (master->debug_level) { |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
764 |
EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
765 |
} |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
766 |
|
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
767 |
if (slave->current_state == slave->requested_state) { |
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
|
768 |
fsm->state = ec_fsm_slave_state_end; // successful |
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
769 |
if (master->debug_level) { |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
770 |
EC_DBG("Finished configuration of slave %i.\n", |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
771 |
slave->ring_position); |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
772 |
} |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
773 |
return; |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
774 |
} |
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
775 |
|
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
776 |
ec_fsm_slave_conf_enter_sdoconf(fsm); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
777 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
778 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
779 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
780 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
781 |
/** |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
782 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
783 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
784 |
void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
785 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
786 |
ec_slave_t *slave = fsm->slave; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
787 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
788 |
// No CoE configuration to be applied? |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
789 |
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
790 |
ec_fsm_slave_conf_enter_mapconf(fsm); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
791 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
792 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
793 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
794 |
// start SDO configuration |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
795 |
fsm->state = ec_fsm_slave_conf_state_sdoconf; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
796 |
fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
797 |
ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
798 |
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
799 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
800 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
801 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
802 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
803 |
/** |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
804 |
Slave configuration state: SDOCONF. |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
805 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
806 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
807 |
void ec_fsm_slave_conf_state_sdoconf( |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
808 |
ec_fsm_slave_t *fsm /**< slave state machine */ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
809 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
810 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
811 |
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
812 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
813 |
if (!ec_fsm_coe_success(&fsm->fsm_coe)) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
814 |
EC_ERR("SDO configuration failed for slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
815 |
fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
816 |
fsm->slave->error_flag = 1; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
817 |
fsm->state = ec_fsm_slave_state_error; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
818 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
819 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
820 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
821 |
// Another SDO to configure? |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
822 |
if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
823 |
fsm->sdodata = list_entry(fsm->sdodata->list.next, |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
824 |
ec_sdo_data_t, list); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
825 |
ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
826 |
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
827 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
828 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
829 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
830 |
// All SDOs are now configured. |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
831 |
ec_fsm_slave_conf_enter_mapconf(fsm); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
832 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
833 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
834 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
835 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
836 |
/** |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
837 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
838 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
839 |
void ec_fsm_slave_conf_enter_mapconf( |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
840 |
ec_fsm_slave_t *fsm /**< slave state machine */ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
841 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
842 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
843 |
ec_slave_t *slave = fsm->slave; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
844 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
845 |
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
846 |
// Slave does not support CoE: no configuration of PDO mapping. |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
847 |
ec_fsm_slave_conf_enter_pdo_sync(fsm); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
848 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
849 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
850 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
851 |
// start configuring PDO mapping |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
852 |
fsm->state = ec_fsm_slave_conf_state_mapconf; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
853 |
ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
854 |
ec_fsm_mapping_exec(&fsm->fsm_map); // execute immediately |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
855 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
856 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
857 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
858 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
859 |
/** |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
860 |
Slave configuration state: MAPCONF. |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
861 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
862 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
863 |
void ec_fsm_slave_conf_state_mapconf( |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
864 |
ec_fsm_slave_t *fsm /**< slave state machine */ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
865 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
866 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
867 |
if (ec_fsm_mapping_exec(&fsm->fsm_map)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
868 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
869 |
if (!ec_fsm_mapping_success(&fsm->fsm_map)) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
870 |
EC_ERR("PDO mapping configuration failed for slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
871 |
fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
872 |
fsm->slave->error_flag = 1; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
873 |
fsm->state = ec_fsm_slave_state_error; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
874 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
875 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
876 |
|
623
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
877 |
ec_fsm_slave_conf_enter_pdo_sync(fsm); |
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
878 |
} |
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
879 |
|
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
880 |
/*****************************************************************************/ |
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
881 |
|
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
882 |
/** |
628
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
883 |
*/ |
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
884 |
|
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
885 |
void ec_fsm_slave_conf_enter_pdo_sync( |
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
886 |
ec_fsm_slave_t *fsm /**< slave state machine */ |
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
887 |
) |
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
|
888 |
{ |
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
|
889 |
ec_slave_t *slave = fsm->slave; |
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
|
890 |
ec_datagram_t *datagram = fsm->datagram; |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
891 |
unsigned int i; |
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
892 |
|
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
893 |
if (!slave->sii_sync_count) { |
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
|
894 |
ec_fsm_slave_conf_enter_fmmu(fsm); |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
895 |
return; |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
896 |
} |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
897 |
|
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
898 |
// configure sync managers for process data |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
899 |
ec_datagram_npwr(datagram, slave->station_address, 0x0800, |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
900 |
EC_SYNC_SIZE * slave->sii_sync_count); |
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
901 |
memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count); |
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
902 |
|
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
903 |
for (i = 0; i < slave->sii_sync_count; i++) { |
628
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
623
diff
changeset
|
904 |
ec_sync_config(&slave->sii_syncs[i], |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents:
615
diff
changeset
|
905 |
datagram->data + EC_SYNC_SIZE * i); |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
906 |
} |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
907 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
908 |
fsm->retries = EC_FSM_RETRIES; |
623
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
909 |
fsm->state = ec_fsm_slave_conf_state_pdo_sync; |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
910 |
} |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
911 |
|
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
912 |
/*****************************************************************************/ |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
913 |
|
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
914 |
/** |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
915 |
*/ |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
916 |
|
623
4d64368f3a1e
Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents:
620
diff
changeset
|
917 |
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
918 |
{ |
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
|
919 |
ec_datagram_t *datagram = fsm->datagram; |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
920 |
ec_slave_t *slave = fsm->slave; |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
921 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
922 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
923 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
924 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
925 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
926 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
927 |
EC_ERR("Failed to receive process data sync manager configuration" |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
928 |
" datagram for slave %i (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
929 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
930 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
931 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
932 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
933 |
if (datagram->working_counter != 1) { |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
934 |
slave->error_flag = 1; |
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
|
935 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
936 |
EC_ERR("Failed to set process data sync managers - slave %i did not" |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
937 |
" respond.\n", slave->ring_position); |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
938 |
return; |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
939 |
} |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
940 |
|
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
|
941 |
ec_fsm_slave_conf_enter_fmmu(fsm); |
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
|
942 |
} |
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
|
943 |
|
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
|
944 |
/*****************************************************************************/ |
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
|
945 |
|
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
|
946 |
/** |
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
|
947 |
*/ |
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
|
948 |
|
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
|
949 |
void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */) |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
950 |
{ |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
951 |
ec_slave_t *slave = fsm->slave; |
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
|
952 |
ec_datagram_t *datagram = fsm->datagram; |
478
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
953 |
unsigned int j; |
322fab6b085b
Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents:
475
diff
changeset
|
954 |
|
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
955 |
if (!slave->base_fmmu_count) { // skip FMMU configuration |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
956 |
ec_fsm_slave_conf_enter_saveop(fsm); |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
957 |
return; |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
958 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
959 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
960 |
// configure FMMUs |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
961 |
ec_datagram_npwr(datagram, slave->station_address, |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
962 |
0x0600, EC_FMMU_SIZE * slave->base_fmmu_count); |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
963 |
memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count); |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
964 |
for (j = 0; j < slave->fmmu_count; j++) { |
630
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
965 |
ec_fmmu_config(&slave->fmmus[j], datagram->data + EC_FMMU_SIZE * j); |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
966 |
} |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
292
diff
changeset
|
967 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
968 |
fsm->retries = EC_FSM_RETRIES; |
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
|
969 |
fsm->state = ec_fsm_slave_conf_state_fmmu; |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
970 |
} |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
971 |
|
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
972 |
/*****************************************************************************/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
973 |
|
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
974 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
975 |
Slave configuration state: FMMU. |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
976 |
*/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
977 |
|
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
|
978 |
void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
979 |
{ |
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
|
980 |
ec_datagram_t *datagram = fsm->datagram; |
419
cf724fc82a00
Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents:
411
diff
changeset
|
981 |
ec_slave_t *slave = fsm->slave; |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
982 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
983 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
984 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
985 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
986 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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
|
987 |
fsm->state = ec_fsm_slave_state_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
988 |
EC_ERR("Failed to receive FMMUs datagram for slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
556
diff
changeset
|
989 |
" (datagram state %i).\n", |
615
cde783147040
Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
990 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
991 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
992 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
993 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
994 |
if (datagram->working_counter != 1) { |
615
cde783147040
Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
995 |
slave->error_flag = 1; |
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
|
996 |
fsm->state = ec_fsm_slave_state_error; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
997 |
EC_ERR("Failed to set FMMUs - slave %i did not respond.\n", |
615
cde783147040
Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
998 |
slave->ring_position); |
cde783147040
Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
999 |
return; |
cde783147040
Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1000 |
} |
cde783147040
Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1001 |
|
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
|
1002 |
ec_fsm_slave_conf_enter_saveop(fsm); |
462
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1003 |
} |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1004 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1005 |
/*****************************************************************************/ |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1006 |
|
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1007 |
/** |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1008 |
*/ |
e6fac0c8bc92
New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1009 |
|
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
|
1010 |
void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
1011 |
{ |
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
|
1012 |
fsm->state = ec_fsm_slave_conf_state_saveop; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
1013 |
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
1014 |
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1015 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1016 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1017 |
/*****************************************************************************/ |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1018 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1019 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1020 |
Slave configuration state: SAVEOP. |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
1021 |
*/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
1022 |
|
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
|
1023 |
void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
1024 |
{ |
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
|
1025 |
ec_master_t *master = fsm->slave->master; |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1026 |
ec_slave_t *slave = fsm->slave; |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1027 |
|
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
1028 |
if (ec_fsm_change_exec(&fsm->fsm_change)) return; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
1029 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
1030 |
if (!ec_fsm_change_success(&fsm->fsm_change)) { |
292
2cf6ae0a2419
Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents:
291
diff
changeset
|
1031 |
fsm->slave->error_flag = 1; |
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
|
1032 |
fsm->state = ec_fsm_slave_state_error; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1033 |
return; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1034 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1035 |
|
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1036 |
// slave is now in SAVEOP |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1037 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1038 |
if (master->debug_level) { |
411 | 1039 |
EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position); |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1040 |
} |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1041 |
|
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1042 |
if (fsm->slave->current_state == fsm->slave->requested_state) { |
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
|
1043 |
fsm->state = ec_fsm_slave_state_end; // successful |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1044 |
if (master->debug_level) { |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1045 |
EC_DBG("Finished configuration of slave %i.\n", |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1046 |
slave->ring_position); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1047 |
} |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1048 |
return; |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1049 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1050 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1051 |
// set state to OP |
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
|
1052 |
fsm->state = ec_fsm_slave_conf_state_op; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
448
diff
changeset
|
1053 |
ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
1054 |
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1055 |
} |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1056 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1057 |
/*****************************************************************************/ |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1058 |
|
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1059 |
/** |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1060 |
Slave configuration state: OP |
309
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
1061 |
*/ |
42e69cf31495
Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents:
308
diff
changeset
|
1062 |
|
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
|
1063 |
void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
1064 |
{ |
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
|
1065 |
ec_master_t *master = fsm->slave->master; |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1066 |
ec_slave_t *slave = fsm->slave; |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1067 |
|
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
434
diff
changeset
|
1068 |
if (ec_fsm_change_exec(&fsm->fsm_change)) return; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
1069 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
1070 |
if (!ec_fsm_change_success(&fsm->fsm_change)) { |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1071 |
slave->error_flag = 1; |
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
|
1072 |
fsm->state = ec_fsm_slave_state_error; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1073 |
return; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1074 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1075 |
|
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
1076 |
// slave is now in OP |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1077 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1078 |
if (master->debug_level) { |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1079 |
EC_DBG("Slave %i is now in OP.\n", slave->ring_position); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1080 |
EC_DBG("Finished configuration of slave %i.\n", slave->ring_position); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1081 |
} |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
407
diff
changeset
|
1082 |
|
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
|
1083 |
fsm->state = ec_fsm_slave_state_end; // successful |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1084 |
} |
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1085 |
|
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1086 |
/****************************************************************************** |
329
d004349777fc
SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
1087 |
* Common state functions |
d004349777fc
SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
1088 |
*****************************************************************************/ |
286
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
1089 |
|
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
1090 |
/** |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1091 |
State: ERROR. |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1092 |
*/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1093 |
|
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
|
1094 |
void ec_fsm_slave_state_error(ec_fsm_slave_t *fsm /**< slave state machine */) |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1095 |
{ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1096 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1097 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1098 |
/*****************************************************************************/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1099 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1100 |
/** |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1101 |
State: END. |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1102 |
*/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
312
diff
changeset
|
1103 |
|
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
|
1104 |
void ec_fsm_slave_state_end(ec_fsm_slave_t *fsm /**< slave state machine */) |
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
|
1105 |
{ |
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
|
1106 |
} |
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
|
1107 |
|
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
|
1108 |
/*****************************************************************************/ |