master/fsm_master.c
author Florian Pose <fp@igh-essen.com>
Wed, 01 Oct 2008 11:53:22 +0000
changeset 1240 982eb5bee593
parent 1225 4d5b739edcb5
child 1277 1189e040fe12
permissions -rw-r--r--
Removed watchdog debugging output.
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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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/** \file
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 * EtherCAT master state machine.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "fsm_master.h"
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/*****************************************************************************/
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void ec_fsm_master_state_start(ec_fsm_master_t *);
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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void ec_fsm_master_state_read_state(ec_fsm_master_t *);
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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void ec_fsm_master_state_phy_request(ec_fsm_master_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_master_init(
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        ec_fsm_master_t *fsm, /**< Master state machine. */
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        ec_master_t *master, /**< EtherCAT master. */
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        ec_datagram_t *datagram /**< Datagram object to use. */
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        )
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{
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    fsm->master = master;
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    fsm->datagram = datagram;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->idle = 0;
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    fsm->slaves_responding = 0;
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    fsm->topology_change_pending = 0;
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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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    // init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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    ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
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            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);
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    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
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            &fsm->fsm_slave_config, &fsm->fsm_pdo);
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_master_clear(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    // clear sub-state machines
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_pdo_clear(&fsm->fsm_pdo);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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 * of the state machine is delayed to the next cycle.
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 */
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void ec_fsm_master_exec(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return;
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    }
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    fsm->state(fsm);
446
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   128
}
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/*****************************************************************************/
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/**
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 * \return true, if the state machine is in an idle phase
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 */
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int ec_fsm_master_idle(
907
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        const ec_fsm_master_t *fsm /**< Master state machine. */
650
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        )
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{
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    return fsm->idle;
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}
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/*****************************************************************************/
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/** Restarts the master state machine.
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 */
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void ec_fsm_master_restart(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    fsm->state = ec_fsm_master_state_start;
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    fsm->state(fsm); // execute immediately
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}
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238
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/******************************************************************************
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 * Master state machine
238
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 *****************************************************************************/
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/** Master state: START.
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 *
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 * Starts with getting slave count and slave states.
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   161
 */
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void ec_fsm_master_state_start(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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   164
        )
528
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{
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    fsm->idle = 1;
528
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
1225
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    ec_datagram_zero(fsm->datagram);
528
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    fsm->state = ec_fsm_master_state_broadcast;
260
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}
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/*****************************************************************************/
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/** Master state: BROADCAST.
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 *
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 * Processes the broadcast read slave count and slaves states.
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 */
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void ec_fsm_master_state_broadcast(
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        ec_fsm_master_t *fsm /**< Master state machine. */
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        )
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    unsigned int i, size;
238
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    ec_slave_t *slave;
260
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    ec_master_t *master = fsm->master;
238
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT)
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   188
        return; // always retry
505
bc443ca0077f State machines re-send datagrams on timeout.
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553
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
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    // bus topology change?
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   191
    if (datagram->working_counter != fsm->slaves_responding) {
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        fsm->topology_change_pending = 1;
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   193
        fsm->slaves_responding = datagram->working_counter;
906
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   194
        EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
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   195
    }
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   196
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   197
    if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
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        ec_fsm_master_restart(fsm);
906
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   199
        return;
260
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   200
    }
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   201
1021
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    if (fsm->slaves_responding) {
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   203
        uint8_t states = EC_READ_U8(datagram->data);
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   204
        if (states != fsm->slave_states) { // slave states changed?
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   205
            char state_str[EC_STATE_STRING_SIZE];
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   206
            fsm->slave_states = states;
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   207
            ec_state_string(fsm->slave_states, state_str);
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   208
            EC_INFO("Slave states: %s.\n", state_str);
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   209
        }
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   210
    } else {
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   211
        fsm->slave_states = 0x00;
260
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   212
    }
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   213
656
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   214
    if (fsm->topology_change_pending) {
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   215
        down(&master->scan_sem);
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   216
        if (!master->allow_scan) {
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   217
            up(&master->scan_sem);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   218
        } else {
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   219
            master->scan_busy = 1;
656
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   220
            up(&master->scan_sem);
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   221
            
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   222
            // topology change when scan is allowed:
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   223
            // clear all slaves and scan the bus
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   224
            fsm->topology_change_pending = 0;
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   225
            fsm->idle = 0;
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   226
            fsm->scan_jiffies = jiffies;
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diff changeset
   227
715
f12ff7c08623 Added --enable-eoe conditional.
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   228
#ifdef EC_EOE
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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   229
            ec_master_eoe_stop(master);
661
bc1de1362efb Dynamic creation of EoE handlers.
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diff changeset
   230
            ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
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diff changeset
   231
#endif
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   232
            ec_master_clear_slaves(master);
656
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   233
1003
f7cf194d6979 Minor change.
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diff changeset
   234
            master->slave_count = fsm->slaves_responding;
656
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   235
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diff changeset
   236
            if (!master->slave_count) {
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   237
                // no slaves present -> finish state machine.
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   238
                master->scan_busy = 0;
656
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diff changeset
   239
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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diff changeset
   240
                ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   241
                return;
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diff changeset
   242
            }
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diff changeset
   243
1005
5af7ab9a98b1 Minor change.
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diff changeset
   244
            size = sizeof(ec_slave_t) * master->slave_count;
5af7ab9a98b1 Minor change.
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diff changeset
   245
            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
5af7ab9a98b1 Minor change.
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diff changeset
   246
                EC_ERR("Failed to allocate %u bytes of slave memory!\n",
5af7ab9a98b1 Minor change.
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diff changeset
   247
                        size);
1064
5f27403587a8 Avoid duplicate reconfiguration.
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diff changeset
   248
                master->slave_count = 0; // TODO avoid retrying scan!
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   249
                master->scan_busy = 0;
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   250
                wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
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diff changeset
   251
                ec_fsm_master_restart(fsm);
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   252
                return;
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diff changeset
   253
            }
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   254
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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   255
            // init slaves
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diff changeset
   256
            for (i = 0; i < master->slave_count; i++) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   257
                slave = master->slaves + i;
992
50a44cbd30af Removed kobjects from sdo and slave.
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diff changeset
   258
                ec_slave_init(slave, master, i, i + 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   259
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
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   260
                // do not force reconfiguration in operation phase to avoid
908
386b908033be Replaced self_configured flag with force_config flag.
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diff changeset
   261
                // unnecesssary process data interruptions
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
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diff changeset
   262
                if (master->phase != EC_OPERATION)
908
386b908033be Replaced self_configured flag with force_config flag.
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diff changeset
   263
                    slave->force_config = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   264
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   265
904
ba6f222aa06e Removed some debugging.
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diff changeset
   266
            // broadcast clear all station addresses
717
87abf1166e88 Clear station addresses with broadcast before setting them.
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diff changeset
   267
            ec_datagram_bwr(datagram, 0x0010, 2);
87abf1166e88 Clear station addresses with broadcast before setting them.
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diff changeset
   268
            EC_WRITE_U16(datagram->data, 0x0000);
87abf1166e88 Clear station addresses with broadcast before setting them.
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diff changeset
   269
            fsm->retries = EC_FSM_RETRIES;
87abf1166e88 Clear station addresses with broadcast before setting them.
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parents: 716
diff changeset
   270
            fsm->state = ec_fsm_master_state_clear_addresses;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   271
            return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   272
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   273
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   274
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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diff changeset
   275
    if (master->slave_count) {
907
570ae1c64465 Improved master state machine.
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   276
        // fetch state from first slave
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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   277
        fsm->slave = master->slaves;
907
570ae1c64465 Improved master state machine.
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diff changeset
   278
        ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
570ae1c64465 Improved master state machine.
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diff changeset
   279
                0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   280
        ec_datagram_zero(datagram);
853
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   281
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   282
        fsm->state = ec_fsm_master_state_read_state;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   283
    } else {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   284
        ec_fsm_master_restart(fsm);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   285
    }
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   286
}
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   287
570ae1c64465 Improved master state machine.
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parents: 906
diff changeset
   288
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   289
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   290
/** Check for pending SII write requests and process one.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   291
 * 
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   292
 * \return non-zero, if an SII write request is processed.
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   293
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   294
int ec_fsm_master_action_process_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   295
        ec_fsm_master_t *fsm /**< Master state machine. */
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   296
        )
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   297
{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
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diff changeset
   298
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   299
    ec_sii_write_request_t *request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   300
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   301
    // search the first request to be processed
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   302
    while (1) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   303
        if (list_empty(&master->sii_requests))
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   304
            break;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   305
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   306
        // get first request
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   307
        request = list_entry(master->sii_requests.next,
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   308
                ec_sii_write_request_t, list);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   309
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   310
        request->state = EC_INT_REQUEST_BUSY;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   311
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   312
        // found pending SII write operation. execute it!
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   313
        if (master->debug_level)
906
f95e3e33c0cf Removed slave online flag.
Florian Pose <fp@igh-essen.com>
parents: 905
diff changeset
   314
            EC_DBG("Writing SII data to slave %u...\n",
f95e3e33c0cf Removed slave online flag.
Florian Pose <fp@igh-essen.com>
parents: 905
diff changeset
   315
                    request->slave->ring_position);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   316
        fsm->sii_request = request;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   317
        fsm->sii_index = 0;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   318
        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   319
                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   320
        fsm->state = ec_fsm_master_state_write_sii;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   321
        fsm->state(fsm); // execute immediately
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   322
        return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   323
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   324
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   325
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   326
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   327
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   328
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   329
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   330
/** Check for pending phy requests and process one.
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   331
 * 
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   332
 * \return non-zero, if a phy request is processed.
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   333
 */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   334
int ec_fsm_master_action_process_phy(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   335
        ec_fsm_master_t *fsm /**< Master state machine. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   336
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   337
{
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   338
    ec_master_t *master = fsm->master;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   339
    ec_phy_request_t *request;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   340
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   341
    // search the first request to be processed
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   342
    while (1) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   343
        if (list_empty(&master->phy_requests))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   344
            break;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   345
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   346
        // get first request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   347
        request = list_entry(master->phy_requests.next,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   348
                ec_phy_request_t, list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   349
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   350
        request->state = EC_INT_REQUEST_BUSY;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   351
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   352
        // found pending request; process it!
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   353
        if (master->debug_level)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   354
            EC_DBG("Processing phy request for slave %u...\n",
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   355
                    request->slave->ring_position);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   356
        fsm->phy_request = request;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   357
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   358
        if (request->dir == EC_DIR_INPUT) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   359
            ec_datagram_fprd(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   360
                    request->offset, request->length);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   361
            ec_datagram_zero(fsm->datagram);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   362
        } else {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   363
            if (request->length > fsm->datagram->mem_size) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   364
                EC_ERR("Request length (%u) exceeds maximum datagram size (%u)!\n",
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   365
                        request->length, fsm->datagram->mem_size);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   366
                request->state = EC_INT_REQUEST_FAILURE;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   367
                wake_up(&master->phy_queue);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   368
                continue;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   369
            }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   370
            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   371
                    request->offset, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   372
            memcpy(fsm->datagram->data, request->data, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   373
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   374
        fsm->retries = EC_FSM_RETRIES;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   375
        fsm->state = ec_fsm_master_state_phy_request;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   376
        return 1;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   377
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   378
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   379
    return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   380
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   381
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   382
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   383
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   384
/** Check for pending Sdo requests and process one.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   385
 * 
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   386
 * \return non-zero, if an Sdo request is processed.
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   387
 */
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   388
int ec_fsm_master_action_process_sdo(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   389
        ec_fsm_master_t *fsm /**< Master state machine. */
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   390
        )
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   391
{
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   392
    ec_master_t *master = fsm->master;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   393
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   394
    ec_sdo_request_t *req;
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   395
    ec_master_sdo_request_t *request;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   396
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   397
    // search for internal requests to be processed
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   398
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   399
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   400
            slave++) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   401
        if (!slave->config)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   402
            continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   403
        list_for_each_entry(req, &slave->config->sdo_requests, list) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   404
            if (req->state == EC_INT_REQUEST_QUEUED) {
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   405
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   406
                if (ec_sdo_request_timed_out(req)) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   407
                    req->state = EC_INT_REQUEST_FAILURE;
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   408
                    if (master->debug_level)
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   409
                        EC_DBG("Sdo request for slave %u timed out...\n",
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   410
                                slave->ring_position);
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   411
                    continue;
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   412
                }
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   413
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   414
                if (slave->current_state == EC_SLAVE_STATE_INIT) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   415
                    req->state = EC_INT_REQUEST_FAILURE;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   416
                    continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   417
                }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   418
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   419
                req->state = EC_INT_REQUEST_BUSY;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   420
                if (master->debug_level)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   421
                    EC_DBG("Processing Sdo request for slave %u...\n",
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   422
                            slave->ring_position);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   423
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   424
                fsm->idle = 0;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   425
                fsm->sdo_request = req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   426
                fsm->slave = slave;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   427
                fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   428
                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   429
                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   430
                return 1;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   431
            }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   432
        }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   433
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   434
    
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   435
    // search the first external request to be processed
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   436
    while (1) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   437
        if (list_empty(&master->slave_sdo_requests))
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   438
            break;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   439
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   440
        // get first request
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   441
        request = list_entry(master->slave_sdo_requests.next,
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   442
                ec_master_sdo_request_t, list);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   443
        list_del_init(&request->list); // dequeue
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   444
        request->req.state = EC_INT_REQUEST_BUSY;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   445
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   446
        slave = request->slave;
969
e259df107c92 process Sdo requests even with error_flag set.
Florian Pose <fp@igh-essen.com>
parents: 930
diff changeset
   447
        if (slave->current_state == EC_SLAVE_STATE_INIT) {
e259df107c92 process Sdo requests even with error_flag set.
Florian Pose <fp@igh-essen.com>
parents: 930
diff changeset
   448
            EC_ERR("Discarding Sdo request, slave %u is in INIT.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   449
                    slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   450
            request->req.state = EC_INT_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   451
            wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   452
            continue;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   453
        }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   454
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   455
        // Found pending Sdo request. Execute it!
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   456
        if (master->debug_level)
906
f95e3e33c0cf Removed slave online flag.
Florian Pose <fp@igh-essen.com>
parents: 905
diff changeset
   457
            EC_DBG("Processing Sdo request for slave %u...\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   458
                    slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   459
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   460
        // Start uploading Sdo
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   461
        fsm->idle = 0;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   462
        fsm->sdo_request = &request->req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   463
        fsm->slave = slave;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   464
        fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   465
        ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   466
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   467
        return 1;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   468
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   469
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   470
    return 0;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   471
}
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   472
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   473
/*****************************************************************************/
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   474
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   475
/** Master action: IDLE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   476
 *
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   477
 * Does secondary work.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   478
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   479
void ec_fsm_master_action_idle(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   480
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   481
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   482
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   483
    ec_master_t *master = fsm->master;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   484
    ec_slave_t *slave;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   485
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   486
    // Check for pending Sdo requests
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   487
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   488
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   489
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   490
    // check, if slaves have an Sdo dictionary to read out.
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   491
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   492
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   493
            slave++) {
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   494
        if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   495
                || (slave->sii.has_general
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   496
                    && !slave->sii.coe_details.enable_sdo_info)
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   497
                || slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   498
                || slave->current_state == EC_SLAVE_STATE_INIT
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   499
                || slave->current_state == EC_SLAVE_STATE_UNKNOWN
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   500
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   501
                ) continue;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   502
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   503
        if (master->debug_level) {
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   504
            EC_DBG("Fetching Sdo dictionary from slave %u.\n",
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   505
                    slave->ring_position);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   506
        }
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   507
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   508
        slave->sdo_dictionary_fetched = 1;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   509
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   510
        // start fetching Sdo dictionary
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   511
        fsm->idle = 0;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   512
        fsm->slave = slave;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   513
        fsm->state = ec_fsm_master_state_sdo_dictionary;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   514
        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   515
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   516
        return;
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   517
    }
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   518
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   519
    // check for pending SII write operations.
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   520
    if (ec_fsm_master_action_process_sii(fsm))
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   521
        return; // SII write request found
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   522
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   523
    // check for pending phy requests.
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   524
    if (ec_fsm_master_action_process_phy(fsm))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   525
        return; // phy request processing
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   526
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   527
    ec_fsm_master_restart(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   528
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   529
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   530
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   531
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   532
/** Master action: Get state of next slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   533
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   534
void ec_fsm_master_action_next_slave_state(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   535
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   536
        )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   537
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   538
    ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   539
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   540
    // is there another slave to query?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   541
    fsm->slave++;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   542
    if (fsm->slave < master->slaves + master->slave_count) {
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   543
        // fetch state from next slave
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   544
        fsm->idle = 1;
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   545
        ec_datagram_fprd(fsm->datagram,
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   546
                fsm->slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1219
diff changeset
   547
        ec_datagram_zero(fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   548
        fsm->retries = EC_FSM_RETRIES;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   549
        fsm->state = ec_fsm_master_state_read_state;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   550
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   551
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   552
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   553
    // all slaves processed
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   554
    ec_fsm_master_action_idle(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   555
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   556
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   557
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   558
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   559
/** Master action: Configure.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   560
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   561
void ec_fsm_master_action_configure(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   562
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   563
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   564
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   565
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   566
    ec_slave_t *slave = fsm->slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   567
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   568
    // Does the slave have to be configured?
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   569
    if ((slave->current_state != slave->requested_state
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   570
                || slave->force_config) && !slave->error_flag) {
1177
03d9640c9ce4 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   571
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   572
        // Start slave configuration, if it is allowed.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   573
        down(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   574
        if (!master->allow_config) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   575
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   576
        } else {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   577
            master->config_busy = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   578
            up(&master->config_sem);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   579
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   580
            if (master->debug_level) {
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   581
                char old_state[EC_STATE_STRING_SIZE],
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   582
                     new_state[EC_STATE_STRING_SIZE];
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   583
                ec_state_string(slave->current_state, old_state);
908
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   584
                ec_state_string(slave->requested_state, new_state);
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   585
                EC_DBG("Changing state of slave %u from %s to %s%s.\n",
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   586
                        slave->ring_position, old_state, new_state,
386b908033be Replaced self_configured flag with force_config flag.
Florian Pose <fp@igh-essen.com>
parents: 907
diff changeset
   587
                        slave->force_config ? " (forced)" : "");
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   588
            }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   589
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   590
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   591
            fsm->state = ec_fsm_master_state_configure_slave;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   592
            ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   593
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   594
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   595
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   596
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   597
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   598
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   599
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   600
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   601
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   602
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   603
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   604
/** Master state: READ STATE.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   605
 *
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   606
 * Fetches the AL state of a slave.
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   607
 */
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   608
void ec_fsm_master_state_read_state(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   609
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   610
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   611
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   612
    ec_slave_t *slave = fsm->slave;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   613
    ec_datagram_t *datagram = fsm->datagram;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   614
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   615
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   616
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   617
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   618
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   619
        EC_ERR("Failed to receive AL state datagram for slave %u"
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   620
                " (datagram state %u)\n",
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   621
                slave->ring_position, datagram->state);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   622
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   623
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   624
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   625
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   626
    // did the slave not respond to its station address?
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   627
    if (datagram->working_counter != 1) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   628
        if (!slave->error_flag) {
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   629
            slave->error_flag = 1;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   630
            if (fsm->master->debug_level)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   631
                EC_DBG("Slave %u did not respond to state query.\n",
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   632
                        fsm->slave->ring_position);
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   633
        }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   634
        fsm->topology_change_pending = 1;
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   635
        ec_fsm_master_restart(fsm);
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   636
        return;
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   637
    }
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   638
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   639
    // A single slave responded
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   640
    ec_slave_set_state(slave, EC_READ_U8(datagram->data));
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   641
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   642
    if (!slave->error_flag) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   643
        // Check, if new slave state has to be acknowledged
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   644
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   645
            fsm->idle = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   646
            fsm->state = ec_fsm_master_state_acknowledge;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   647
            ec_fsm_change_ack(&fsm->fsm_change, slave);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   648
            fsm->state(fsm); // execute immediately
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   649
            return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   650
        }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   651
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   652
        // No acknowlegde necessary; check for configuration
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   653
        ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   654
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   655
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   656
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   657
    // slave has error flag set; process next one
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   658
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   659
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   660
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   661
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   662
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   663
/** Master state: ACKNOWLEDGE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   664
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   665
void ec_fsm_master_state_acknowledge(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   666
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   667
        )
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   668
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   669
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   670
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   671
    if (ec_fsm_change_exec(&fsm->fsm_change))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   672
        return;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   673
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   674
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   675
        fsm->slave->error_flag = 1;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   676
        EC_ERR("Failed to acknowledge state change on slave %u.\n",
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   677
               slave->ring_position);
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   678
    }
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   679
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   680
    ec_fsm_master_action_configure(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   681
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   682
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   683
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   684
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   685
/** Master state: CLEAR ADDRESSES.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   686
 */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   687
void ec_fsm_master_state_clear_addresses(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   688
        ec_fsm_master_t *fsm /**< Master state machine. */
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   689
        )
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   690
{
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   691
    ec_master_t *master = fsm->master;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   692
    ec_datagram_t *datagram = fsm->datagram;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   693
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   694
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   695
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   696
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   697
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   698
        EC_ERR("Failed to receive address clearing datagram (state %u).\n",
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   699
                datagram->state);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   700
        master->scan_busy = 0;
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   701
        wake_up_interruptible(&master->scan_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   702
        ec_fsm_master_restart(fsm);
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   703
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   704
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   705
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   706
    if (datagram->working_counter != master->slave_count) {
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   707
        EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   708
                datagram->working_counter, master->slave_count);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   709
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   710
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   711
    EC_INFO("Scanning bus.\n");
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   712
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   713
    // begin scanning of slaves
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   714
    fsm->slave = master->slaves;
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   715
    fsm->state = ec_fsm_master_state_scan_slave;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   716
    ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   717
    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   718
}
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   719
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   720
/*****************************************************************************/
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   721
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   722
/** Master state: SCAN SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   723
 *
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   724
 * Executes the sub-statemachine for the scanning of a slave.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   725
 */
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   726
void ec_fsm_master_state_scan_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   727
        ec_fsm_master_t *fsm /**< Master state machine. */
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   728
        )
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
    ec_master_t *master = fsm->master;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   731
    ec_slave_t *slave = fsm->slave;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   732
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   733
    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   734
        return;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   735
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   736
#ifdef EC_EOE
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   737
    if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   738
        // create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   739
        ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   740
        if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   741
            EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   742
                    slave->ring_position);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   743
        } else if (ec_eoe_init(eoe, slave)) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   744
            EC_ERR("Failed to init EoE handler for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   745
                    slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   746
            kfree(eoe);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   747
        } else {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   748
            list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   749
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   750
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   751
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   752
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   753
    // another slave to fetch?
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
   754
    fsm->slave++;
1002
0e1aaeb3540d Fixed bug in slave scanning, causing a segmentation fault.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   755
    if (fsm->slave < master->slaves + master->slave_count) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   756
        ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   757
        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   758
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   759
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   760
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   761
    EC_INFO("Bus scanning completed in %u ms.\n",
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   762
            (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   763
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   764
    master->scan_busy = 0;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   765
    wake_up_interruptible(&master->scan_queue);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   766
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   767
    // Attach slave configurations
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   768
    ec_master_attach_slave_configs(master);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   769
716
ac2a81a33d3d Minor fix.
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   770
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   771
    // check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   772
    ec_master_eoe_start(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   773
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   774
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   775
    ec_fsm_master_restart(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   776
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   780
/** Master state: CONFIGURE SLAVE.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   781
 *
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   782
 * Starts configuring a slave.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   783
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   784
void ec_fsm_master_state_configure_slave(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   785
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   786
        )
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   787
{
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   788
    ec_master_t *master = fsm->master;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   789
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   790
    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   791
        return;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   792
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   793
    // configuration finished
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   794
    master->config_busy = 0;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   795
    wake_up_interruptible(&master->config_queue);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   796
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   797
    if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   798
        // TODO: mark slave_config as failed.
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   799
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   800
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   801
    fsm->idle = 1;
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   802
    ec_fsm_master_action_next_slave_state(fsm);
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   803
}
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   804
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   805
/*****************************************************************************/
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   806
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   807
/** Master state: WRITE SII.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   808
 */
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   809
void ec_fsm_master_state_write_sii(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   810
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   811
        )
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   812
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   813
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   814
    ec_sii_write_request_t *request = fsm->sii_request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   815
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   816
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   817
    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
   818
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   819
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   820
        EC_ERR("Failed to write SII data to slave %u.\n",
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   821
                slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   822
        request->state = EC_INT_REQUEST_FAILURE;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   823
        wake_up(&master->sii_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   824
        ec_fsm_master_restart(fsm);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   825
        return;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   826
    }
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   827
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   828
    fsm->sii_index++;
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   829
    if (fsm->sii_index < request->nwords) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   830
        ec_fsm_sii_write(&fsm->fsm_sii, slave,
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   831
                request->offset + fsm->sii_index,
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   832
                request->words + fsm->sii_index,
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   833
                EC_FSM_SII_USE_CONFIGURED_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   834
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   835
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   836
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   837
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   838
    // finished writing SII
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   839
    if (master->debug_level)
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   840
        EC_DBG("Finished writing %u words of SII data to slave %u.\n",
979
405cc2d033e0 Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents: 969
diff changeset
   841
                request->nwords, slave->ring_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   842
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   843
    if (request->offset <= 4 && request->offset + request->nwords > 4) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   844
        // alias was written
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   845
        slave->sii.alias = EC_READ_U16(request->words + 4);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   846
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   847
    // TODO: Evaluate other SII contents!
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1064
diff changeset
   848
    
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   849
    request->state = EC_INT_REQUEST_SUCCESS;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   850
    wake_up(&master->sii_queue);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   851
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   852
    // check for another SII write request
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   853
    if (ec_fsm_master_action_process_sii(fsm))
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   854
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   855
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   856
    ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   857
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   858
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   859
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   860
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   861
/** Master state: SDO DICTIONARY.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   862
 */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
   863
void ec_fsm_master_state_sdo_dictionary(
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   864
        ec_fsm_master_t *fsm /**< Master state machine. */
905
6d74ebc603ee Renamed state sdodict to sdo_dictionary.
Florian Pose <fp@igh-essen.com>
parents: 904
diff changeset
   865
        )
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   866
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   867
    ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   868
    ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   869
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   870
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   871
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   872
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   873
        ec_fsm_master_restart(fsm);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   874
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   875
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   876
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   877
    // Sdo dictionary fetching finished
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   878
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   879
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   880
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   881
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   882
        EC_DBG("Fetched %u Sdos and %u entries from slave %u.\n",
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   883
               sdo_count, entry_count, slave->ring_position);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   884
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   885
1186
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
   886
    // attach pdo names from dictionary
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
   887
    ec_slave_attach_pdo_names(slave);
ff481f097c97 Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents: 1177
diff changeset
   888
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   889
    ec_fsm_master_restart(fsm);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   890
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   891
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   892
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   893
907
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   894
/** Master state: SDO REQUEST.
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   895
 */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   896
void ec_fsm_master_state_sdo_request(
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   897
        ec_fsm_master_t *fsm /**< Master state machine. */
570ae1c64465 Improved master state machine.
Florian Pose <fp@igh-essen.com>
parents: 906
diff changeset
   898
        )
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   899
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   900
    ec_master_t *master = fsm->master;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   901
    ec_sdo_request_t *request = fsm->sdo_request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   902
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   903
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   904
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   905
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   906
        EC_DBG("Failed to process Sdo request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   907
                fsm->slave->ring_position);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   908
        request->state = EC_INT_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   909
        wake_up(&master->sdo_queue);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   910
        ec_fsm_master_restart(fsm);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   911
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   912
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   913
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   914
    // Sdo request finished 
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   915
    request->state = EC_INT_REQUEST_SUCCESS;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   916
    wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   917
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   918
    if (master->debug_level)
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   919
        EC_DBG("Finished Sdo request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   920
                fsm->slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   921
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   922
    // check for another Sdo request
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   923
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   924
        return; // processing another request
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   925
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   926
    ec_fsm_master_restart(fsm);
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   927
}
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   928
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   929
/*****************************************************************************/
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   930
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   931
/** Master state: PHY.
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   932
 */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   933
void ec_fsm_master_state_phy_request(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   934
        ec_fsm_master_t *fsm /**< Master state machine. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   935
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   936
{
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   937
    ec_master_t *master = fsm->master;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   938
    ec_datagram_t *datagram = fsm->datagram;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   939
    ec_phy_request_t *request = fsm->phy_request;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   940
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   941
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   942
        EC_ERR("Failed to receive phy request datagram (state %u).\n",
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   943
                datagram->state);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   944
        request->state = EC_INT_REQUEST_FAILURE;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   945
        wake_up(&master->phy_queue);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   946
        ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   947
        return;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   948
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   949
    
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   950
    if (request->dir == EC_DIR_INPUT) { // read request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   951
        if (request->data)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   952
            kfree(request->data);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   953
        request->data = kmalloc(request->length, GFP_KERNEL);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   954
        if (!request->data) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   955
            EC_ERR("Failed to allocate %u bytes of memory for phy request.\n",
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   956
                    request->length);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   957
            request->state = EC_INT_REQUEST_FAILURE;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   958
            wake_up(&master->phy_queue);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   959
            ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   960
            return;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   961
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   962
        memcpy(request->data, datagram->data, request->length);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   963
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   964
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   965
    request->state = EC_INT_REQUEST_SUCCESS;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   966
    wake_up(&master->phy_queue);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   967
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   968
    // check for another PHY request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   969
    if (ec_fsm_master_action_process_phy(fsm))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   970
        return; // processing another request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   971
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   972
    ec_fsm_master_restart(fsm);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   973
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   974
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1186
diff changeset
   975
/*****************************************************************************/