master/fsm_slave_config.c
author Florian Pose <fp@igh-essen.com>
Fri, 24 Apr 2009 08:39:20 +0000
changeset 1415 9d1cdbf41247
parent 1412 8f7bbbd3b7ac
child 1419 8fc38c37d86e
permissions -rw-r--r--
Output reference clock and application time in 'ethercat Master'.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 *
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 * EtherCAT slave configuration 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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#include "fsm_slave_config.h"
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/*****************************************************************************/
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_read_offset(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_config_init(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
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        ec_datagram_t *datagram, /**< datagram structure to use */
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        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
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        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
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        )
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{
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    ec_sdo_request_init(&fsm->request_copy);
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    fsm->datagram = datagram;
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    fsm->fsm_change = fsm_change;
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    fsm->fsm_coe = fsm_coe;
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    fsm->fsm_pdo = fsm_pdo;
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_config_clear(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    ec_sdo_request_clear(&fsm->request_copy);
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}
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/*****************************************************************************/
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/** Start slave configuration state machine.
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 */
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void ec_fsm_slave_config_start(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_slave_config_state_start;
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}
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/*****************************************************************************/
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/**
1064
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_slave_config_running(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
830
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{
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    return fsm->state != ec_fsm_slave_config_state_end
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        && fsm->state != ec_fsm_slave_config_state_error;
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   136
}
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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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   143
 * of the state machine is delayed to the next cycle.
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   144
 *
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 * \return false, if state machine has terminated
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   146
 */
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int ec_fsm_slave_config_exec(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
830
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{
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   151
    if (fsm->datagram->state == EC_DATAGRAM_SENT
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   152
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   153
        // datagram was not sent or received yet.
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   154
        return ec_fsm_slave_config_running(fsm);
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   155
    }
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   156
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    fsm->state(fsm);
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   158
    return ec_fsm_slave_config_running(fsm);
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   159
}
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   160
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/*****************************************************************************/
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   162
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   163
/**
1064
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 * \return true, if the state machine terminated gracefully
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   165
 */
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   166
int ec_fsm_slave_config_success(
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   167
        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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   168
        )
830
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{
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    return fsm->state == ec_fsm_slave_config_state_end;
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   171
}
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/******************************************************************************
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 * Slave configuration state machine
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 *****************************************************************************/
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/** Slave configuration state: START.
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   178
 */
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void ec_fsm_slave_config_state_start(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   181
        )
830
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{
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   183
    if (fsm->slave->master->debug_level) {
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        EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
830
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   185
    }
1064
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   186
    
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
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   187
    ec_fsm_slave_config_enter_init(fsm);
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   188
}
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   189
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   190
/*****************************************************************************/
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   191
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   192
/** Start state change to INIT.
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   193
 */
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   194
void ec_fsm_slave_config_enter_init(
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   195
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   196
        )
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   197
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   198
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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   199
    ec_fsm_change_exec(fsm->fsm_change);
830
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   200
    fsm->state = ec_fsm_slave_config_state_init;
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   201
}
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   202
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   203
/*****************************************************************************/
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   204
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   205
/** Slave configuration state: INIT.
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   206
 */
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   207
void ec_fsm_slave_config_state_init(
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   208
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   209
        )
830
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   210
{
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   211
    ec_master_t *master = fsm->slave->master;
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   212
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
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   213
    ec_datagram_t *datagram = fsm->datagram;
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   214
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   215
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   216
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   217
    if (!ec_fsm_change_success(fsm->fsm_change)) {
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diff changeset
   218
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
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parents:
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   219
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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   220
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   221
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   222
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   223
d83d92e1a919 Separated slave state machines.
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diff changeset
   224
    if (master->debug_level) {
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a486591ba86b Replaced misleading %i by %u.
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diff changeset
   225
        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   226
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   227
d83d92e1a919 Separated slave state machines.
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diff changeset
   228
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1342
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   229
        ec_fsm_slave_config_enter_clear_sync(fsm);
830
d83d92e1a919 Separated slave state machines.
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diff changeset
   230
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   231
    }
d83d92e1a919 Separated slave state machines.
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diff changeset
   232
d83d92e1a919 Separated slave state machines.
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diff changeset
   233
    if (master->debug_level)
986
a486591ba86b Replaced misleading %i by %u.
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diff changeset
   234
        EC_DBG("Clearing FMMU configurations of slave %u...\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   236
d83d92e1a919 Separated slave state machines.
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   237
    // clear FMMU configurations
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   238
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   240
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   241
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   242
    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   243
}
d83d92e1a919 Separated slave state machines.
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diff changeset
   244
d83d92e1a919 Separated slave state machines.
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   245
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
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diff changeset
   246
1064
5f27403587a8 Avoid duplicate reconfiguration.
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diff changeset
   247
/** Slave configuration state: CLEAR FMMU.
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diff changeset
   248
 */
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diff changeset
   249
void ec_fsm_slave_config_state_clear_fmmus(
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diff changeset
   250
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
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diff changeset
   251
        )
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   252
{
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   253
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   254
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   255
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   256
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   257
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   258
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   259
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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parents: 908
diff changeset
   260
        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   261
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
d83d92e1a919 Separated slave state machines.
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    if (datagram->working_counter != 1) {
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        fsm->slave->error_flag = 1;
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        fsm->state = ec_fsm_slave_config_state_error;
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a486591ba86b Replaced misleading %i by %u.
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   268
        EC_ERR("Failed to clear FMMUs of slave %u: ",
830
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               fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
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        return;
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    }
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    ec_fsm_slave_config_enter_clear_sync(fsm);
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}
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/*****************************************************************************/
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/** Clear the sync manager configurations.
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 */
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void ec_fsm_slave_config_enter_clear_sync(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_datagram_t *datagram = fsm->datagram;
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   287
    size_t sync_size;
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   288
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    if (!slave->sii.sync_count) { // FIXME use base_sync_count?
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        // no sync managers
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        ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1342
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        return;
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   293
    }
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1344
e5756d4ed12c Debug message.
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    if (slave->master->debug_level)
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        EC_DBG("Clearing sync manager configurations of slave %u...\n",
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   297
                slave->ring_position);
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    sync_size = EC_SYNC_PAGE_SIZE * slave->sii.sync_count;
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    // clear sync manager configurations
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    ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
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    memset(datagram->data, 0x00, sync_size);
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    fsm->retries = EC_FSM_RETRIES;
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   305
    fsm->state = ec_fsm_slave_config_state_clear_sync;
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   306
}
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   307
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/*****************************************************************************/
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   309
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/** Slave configuration state: CLEAR SYNC.
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 */
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void ec_fsm_slave_config_state_clear_sync(
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   313
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   314
        )
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   315
{
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   316
    ec_datagram_t *datagram = fsm->datagram;
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   318
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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   319
        return;
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   320
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   321
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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   322
        fsm->state = ec_fsm_slave_config_state_error;
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   323
        EC_ERR("Failed receive sync manager clearing datagram"
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   324
                " for slave %u.\n", fsm->slave->ring_position);
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   325
        return;
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   326
    }
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   327
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   328
    if (datagram->working_counter != 1) {
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diff changeset
   329
        fsm->slave->error_flag = 1;
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   330
        fsm->state = ec_fsm_slave_config_state_error;
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   331
        EC_ERR("Failed to clear sync manager configurations of slave %u: ",
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   332
               fsm->slave->ring_position);
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   333
        ec_datagram_print_wc_error(datagram);
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diff changeset
   334
        return;
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diff changeset
   335
    }
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   336
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   337
    ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1406
8686c5b3d14b Clear DC assignment after going to INIT.
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   338
}
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   339
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   340
/*****************************************************************************/
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   341
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   342
/** Clear the DC assignment.
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   343
 */
1407
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   344
void ec_fsm_slave_config_enter_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
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   345
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   346
        )
8686c5b3d14b Clear DC assignment after going to INIT.
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   347
{
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   348
    ec_slave_t *slave = fsm->slave;
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diff changeset
   349
    ec_datagram_t *datagram = fsm->datagram;
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diff changeset
   350
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   351
    if (!slave->base_dc_supported) {
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   352
        ec_fsm_slave_config_enter_mbox_sync(fsm);
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   353
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   354
    }
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   355
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
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diff changeset
   356
    if (slave->master->debug_level)
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   357
        EC_DBG("Clearing DC assignment of slave %u...\n",
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   358
                slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   359
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   360
    ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   361
    ec_datagram_zero(datagram);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   362
    fsm->retries = EC_FSM_RETRIES;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   363
    fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
1406
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   364
}
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
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diff changeset
   365
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   366
/*****************************************************************************/
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diff changeset
   367
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   368
/** Slave configuration state: CLEAR DC ASSIGN.
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   369
 */
1407
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diff changeset
   370
void ec_fsm_slave_config_state_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   371
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
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diff changeset
   372
        )
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   373
{
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   374
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   375
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   376
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   377
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   378
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   379
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   380
        fsm->state = ec_fsm_slave_config_state_error;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   381
        EC_ERR("Failed receive DC assignment clearing datagram"
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   382
                " for slave %u.\n", fsm->slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   383
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   384
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   385
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   386
    if (fsm->slave->master->debug_level && datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   387
        // clearing the DC assignment does not succeed on simple slaves
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   388
        EC_DBG("Failed to clear DC assignment of slave %u: ",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   389
               fsm->slave->ring_position);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   390
        ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   391
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   392
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   393
    // read DC system time and system time offset
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   394
    ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0910, 24);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   395
    fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   396
    fsm->state = ec_fsm_slave_config_state_dc_read_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   397
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   398
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   399
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   400
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   401
/** Slave configuration state: DC READ OFFSET.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   402
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   403
void ec_fsm_slave_config_state_dc_read_offset(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   404
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   405
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   406
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   407
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   408
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   409
    u64 system_time, old_offset, new_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   410
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   411
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   412
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   413
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   414
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   415
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   416
        EC_ERR("Failed to receive DC times datagram for slave %u"
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   417
                " (datagram state %u).\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   418
                slave->ring_position, datagram->state);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   419
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   420
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   421
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   422
    if (datagram->working_counter != 1) {
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   423
        slave->error_flag = 1;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   424
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   425
        EC_ERR("Failed to get DC times of slave %u: ",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   426
                slave->ring_position);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   427
        ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   428
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   429
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   430
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   431
    system_time = EC_READ_U64(datagram->data);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   432
    old_offset = EC_READ_U64(datagram->data + 16);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   433
    new_offset = slave->master->app_time - system_time + old_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   434
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   435
    if (slave->master->debug_level)
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   436
        EC_DBG("Slave %u: DC system_time=%llu old_offset=%llu, "
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   437
                "app_time=%llu, new_offset=%llu\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   438
                slave->ring_position, system_time, old_offset,
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   439
                slave->master->app_time, new_offset);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   440
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   441
    // set DC system time offset
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   442
    ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 8);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   443
    EC_WRITE_U64(datagram->data, new_offset);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   444
    fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   445
    fsm->state = ec_fsm_slave_config_state_dc_write_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   446
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   447
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   448
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   449
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   450
/** Slave configuration state: DC WRITE OFFSET.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   451
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   452
void ec_fsm_slave_config_state_dc_write_offset(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   453
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   454
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   455
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   456
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   457
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   458
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   459
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   460
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   461
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   462
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   463
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   464
        EC_ERR("Failed to receive DC system time offset datagram for slave %u"
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   465
                " (datagram state %u).\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   466
                slave->ring_position, datagram->state);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   467
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   468
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   469
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   470
    if (datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   471
        slave->error_flag = 1;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   472
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   473
        EC_ERR("Failed to set DC system time offset of slave %u: ",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   474
                slave->ring_position);
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   475
        ec_datagram_print_wc_error(datagram);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   476
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   477
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   478
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
    ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   484
/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   485
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    // slave is now in INIT
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   499
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   505
    if (!slave->sii.mailbox_protocols) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
        // no mailbox protocols supported
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
            EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
                    slave->ring_position);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   510
        ec_fsm_slave_config_enter_boot_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   515
        EC_DBG("Configuring mailbox sync managers of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   519
    if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   520
        ec_sync_t sync;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   521
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   522
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   523
                EC_SYNC_PAGE_SIZE * 2);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   524
        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   525
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   526
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   527
        sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   528
        sync.control_register = 0x26;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   529
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   530
        ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   531
                EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   532
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   533
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   534
            slave->sii.boot_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   535
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   536
            slave->sii.boot_rx_mailbox_size;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   537
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   538
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   539
        sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   540
        sync.control_register = 0x22;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   541
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   542
        ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   543
                EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   544
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   545
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   546
            slave->sii.boot_tx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   547
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   548
            slave->sii.boot_tx_mailbox_size;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   549
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   550
    } else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   552
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   553
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
        for (i = 0; i < 2; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   556
            ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   557
                    slave->sii.syncs[i].default_length,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   558
                    EC_DIR_INVALID, // use default direction
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
        }
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   561
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   562
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   563
            slave->sii.syncs[0].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   564
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   565
            slave->sii.syncs[0].default_length;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   566
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   567
            slave->sii.syncs[1].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   568
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   569
            slave->sii.syncs[1].default_length;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
    } else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
        ec_sync_t sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
            EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
                    " mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
                EC_SYNC_PAGE_SIZE * 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   580
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   582
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   583
        sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
        sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   586
        ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   587
                EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   588
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   589
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   590
            slave->sii.std_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   591
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   592
            slave->sii.std_rx_mailbox_size;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   593
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   594
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   595
        sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   596
        sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   597
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   598
        ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   599
                EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   600
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   601
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   602
            slave->sii.boot_tx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   603
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   604
            slave->sii.boot_tx_mailbox_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   606
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   607
    fsm->take_time = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   608
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
    fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   615
/** Slave configuration state: SYNC.
1345
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   616
 *
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   617
 * \todo Timeout for response.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   618
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   619
void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   620
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   621
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   623
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
        EC_ERR("Failed to receive sync manager configuration datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   632
               " slave %u (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   637
    if (fsm->take_time) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   638
        fsm->take_time = 0;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   639
        fsm->jiffies_start = datagram->jiffies_sent;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   640
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   641
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   642
    /* Because the sync manager configurations are cleared during the last
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   643
     * cycle, some slaves do not immediately respond to the mailbox sync
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   644
     * manager configuration datagram. Therefore, resend the datagram for
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   645
     * a certain time, if the slave does not respond.
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   646
     */
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   647
    if (datagram->working_counter == 0) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   648
        unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   649
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   650
        if (diff >= HZ) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   651
            slave->error_flag = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   652
            fsm->state = ec_fsm_slave_config_state_error;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   653
            EC_ERR("Timeout while configuring mailbox sync managers of"
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   654
                    " slave %u.\n", slave->ring_position);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   655
            return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   656
        }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   657
        else if (slave->master->debug_level) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   658
            EC_DBG("Resending after %u ms...\n",
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   659
                    (unsigned int) diff * 1000 / HZ);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   660
        }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   661
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   662
        // send configuration datagram again
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   663
        fsm->retries = EC_FSM_RETRIES;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   664
        return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   665
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   666
    else if (datagram->working_counter != 1) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   669
        EC_ERR("Failed to set sync managers of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   675
    ec_fsm_slave_config_enter_boot_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   680
/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   681
 */
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   682
void ec_fsm_slave_config_enter_boot_preop(
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   683
        ec_fsm_slave_config_t *fsm /**< slave state machine */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   684
        )
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   685
{
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   686
    fsm->state = ec_fsm_slave_config_state_boot_preop;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   687
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   688
    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   689
        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   690
    } else { // BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   691
        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   692
    }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   693
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   694
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   699
/** Slave configuration state: BOOT/PREOP.
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   700
 */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   701
void ec_fsm_slave_config_state_boot_preop(
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   702
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   703
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   708
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   709
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   710
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   711
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   712
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   717
    // slave is now in BOOT or PREOP
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
    slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
    if (master->debug_level) {
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   721
        EC_DBG("Slave %u is now in %s.\n", slave->ring_position,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   722
                slave->requested_state != EC_SLAVE_STATE_BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   723
                ? "PREOP" : "BOOT");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   724
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
        if (master->debug_level) {
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   729
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
    if (!slave->config) {
1374
1ca1178a3f93 Warn if going to SAFEOP without configuration.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   736
        EC_WARN("Slave %u is not configured.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
        ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   741
    ec_fsm_slave_config_enter_sdo_conf(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   742
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   743
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   744
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   745
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   746
/** Check for SDO configurations to be applied.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   747
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   748
void ec_fsm_slave_config_enter_sdo_conf(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   749
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   750
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   751
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   752
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   753
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
    // No CoE configuration to be applied?
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
   755
	// FIXME check for config
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   756
    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   757
        ec_fsm_slave_config_enter_pdo_conf(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   761
    // start SDO configuration
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
    fsm->state = ec_fsm_slave_config_state_sdo_conf;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   763
    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   764
            ec_sdo_request_t, list);
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   765
    ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   766
    ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   767
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   768
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   773
/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   774
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   776
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   779
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   780
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   781
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   782
        EC_ERR("SDO configuration failed for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   783
                fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   789
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   790
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   791
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   792
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   793
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   794
    // Another SDO to configure?
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   795
    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   796
        fsm->request = list_entry(fsm->request->list.next,
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   797
                ec_sdo_request_t, list);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   798
        ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   799
        ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   800
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   801
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   802
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   803
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   805
    // All SDOs are now configured.
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   806
    ec_fsm_slave_config_enter_pdo_conf(fsm);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   807
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   808
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   809
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   810
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   811
/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   812
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   813
void ec_fsm_slave_config_enter_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   814
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   815
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   816
{
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   817
    // Start configuring PDOs
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   818
    ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   819
    fsm->state = ec_fsm_slave_config_state_pdo_conf;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   820
    fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   821
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   822
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   823
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   824
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   825
/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   826
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   827
void ec_fsm_slave_config_state_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   828
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   829
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   830
{
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   831
	// TODO check for config here
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   832
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   833
    if (ec_fsm_pdo_exec(fsm->fsm_pdo))
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   834
        return;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   835
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   836
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   837
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   838
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   839
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   840
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   841
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   842
        EC_WARN("PDO configuration failed on slave %u.\n",
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   843
                fsm->slave->ring_position);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   844
    }
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   845
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   846
    ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   847
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   848
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   849
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   850
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   851
/** Check for PDO sync managers to be configured.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   852
 */
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   853
void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   854
        ec_fsm_slave_config_t *fsm /**< slave state machine */
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   855
        )
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   856
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   857
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   858
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   859
    unsigned int i, offset, num_pdo_syncs;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   860
    uint8_t sync_index;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   861
    const ec_sync_t *sync;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   862
    const ec_sync_config_t *sync_config;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   863
    uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   864
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   865
    if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   866
        offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   867
    } else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   868
        offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   869
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   870
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   871
    if (slave->sii.sync_count <= offset) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   872
        // no PDO sync managers to configure
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   873
        ec_fsm_slave_config_enter_fmmu(fsm);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   874
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   875
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   876
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   877
    num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   878
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   879
    // configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   880
    ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   881
            0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   882
            EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   883
    ec_datagram_zero(datagram);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   884
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   885
    for (i = 0; i < num_pdo_syncs; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   886
        sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   887
        sync = &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   888
        sync_config = &slave->config->sync_configs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   889
        size = ec_pdo_list_total_size(&sync_config->pdos);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   890
        ec_sync_page(sync, sync_index, size, sync_config->dir,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   891
                datagram->data + EC_SYNC_PAGE_SIZE * i);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   892
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   893
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   894
    fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   895
    fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   896
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   897
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   898
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   899
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   900
/** Configure PDO sync managers.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   901
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   902
void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   903
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   904
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   905
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   906
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   907
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   908
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   909
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   910
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   911
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   912
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   913
        fsm->state = ec_fsm_slave_config_state_error;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   914
        EC_ERR("Failed to receive process data sync manager configuration"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   915
               " datagram for slave %u (datagram state %u).\n",
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   916
               slave->ring_position, datagram->state);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   917
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   918
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   919
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   920
    if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   921
        slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   922
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   923
        EC_ERR("Failed to set process data sync managers of slave %u: ",
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   924
                slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   925
        ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   926
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   927
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   928
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   929
    ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   930
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   931
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   932
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   933
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   934
/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   935
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   936
void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   937
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   938
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   939
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   940
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   941
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   942
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   943
    const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   944
    const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   945
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   946
    if (!slave->config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   947
        ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   948
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   949
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   950
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   951
    if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   952
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   954
        EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   955
                slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   956
                slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   957
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   958
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   959
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   960
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   961
        ec_fsm_slave_config_enter_dc_cycle(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   963
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   964
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   965
    // configure FMMUs
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   966
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   967
                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   968
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   969
    for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   970
        fmmu = &slave->config->fmmu_configs[i];
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   971
        if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   972
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   973
            fsm->state = ec_fsm_slave_config_state_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   974
            EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   975
                    " %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   976
            return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   977
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   978
        ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   979
                datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   980
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   981
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   982
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   983
    fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   984
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   985
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   986
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   987
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   988
/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   989
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   990
void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   991
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   992
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   993
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   994
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   995
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   996
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   997
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   998
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   999
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1000
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1001
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1002
        EC_ERR("Failed to receive FMMUs datagram for slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1003
                " (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1004
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1005
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1006
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1007
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1008
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1009
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1010
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1011
        EC_ERR("Failed to set FMMUs of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1012
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1013
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1014
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1015
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1016
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1017
    ec_fsm_slave_config_enter_dc_cycle(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1018
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1019
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1020
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1021
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1022
/** Check for DC to be configured.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1023
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1024
void ec_fsm_slave_config_enter_dc_cycle(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1025
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1026
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1027
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1028
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1029
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1030
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1031
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1032
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1033
        ec_fsm_slave_config_reconfigure(fsm);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1034
        return;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1035
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1036
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1037
    if (config->dc_assign_activate) {
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1038
        if (!slave->base_dc_supported) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1039
            EC_WARN("Slave %u seems not to support distributed clocks!\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1040
                    slave->ring_position);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1041
        }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1042
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1043
        // set DC cycle times
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1044
        ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1045
        EC_WRITE_U32(datagram->data, config->dc_sync_cycle_times[0]);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1046
        EC_WRITE_U32(datagram->data + 4, config->dc_sync_cycle_times[1]);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1047
        fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1048
        fsm->state = ec_fsm_slave_config_state_dc_cycle;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1049
    } else {
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1050
        // DC are unused
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1051
        ec_fsm_slave_config_enter_safeop(fsm);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1052
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1053
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1054
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1055
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1056
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1057
/** Slave configuration state: DC CYCLE.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1058
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1059
void ec_fsm_slave_config_state_dc_cycle(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1060
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1061
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1062
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1063
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1064
    ec_slave_t *slave = fsm->slave;
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1065
    ec_slave_config_t *config = slave->config;
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1066
    u64 start_time;
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1067
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1068
    if (!config) { // config removed in the meantime
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1069
        ec_fsm_slave_config_reconfigure(fsm);
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1070
        return;
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1071
    }
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1072
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1073
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1074
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1075
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1076
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1077
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1078
        EC_ERR("Failed to receive DC cycle times datagram for slave %u"
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1079
                " (datagram state %u).\n",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1080
                slave->ring_position, datagram->state);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1081
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1082
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1083
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1084
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1085
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1086
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1087
        EC_ERR("Failed to set DC cycle times of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1088
                slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1089
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1090
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1091
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1092
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1093
    // set DC start time
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1094
    start_time = slave->master->app_time +
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1095
        config->dc_sync_shift_times[0] + 100000000ULL; // now + shift + x ns
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1096
    if (slave->master->debug_level)
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1097
        EC_DBG("Slave %u: Setting DC cyclic operation start time to %llu.\n",
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1098
                slave->ring_position, start_time);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1099
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1100
    ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1101
    EC_WRITE_U64(datagram->data, start_time);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1102
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1103
    fsm->state = ec_fsm_slave_config_state_dc_start;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1104
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1105
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1106
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1107
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1108
/** Slave configuration state: DC START.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1109
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1110
void ec_fsm_slave_config_state_dc_start(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1111
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1112
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1113
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1114
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1115
    ec_slave_t *slave = fsm->slave;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1116
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1117
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1118
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1119
        ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1120
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1121
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1122
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1123
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1124
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1125
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1126
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1127
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1128
        EC_ERR("Failed to receive DC start time datagram for slave %u"
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1129
                " (datagram state %u).\n",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1130
                slave->ring_position, datagram->state);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1131
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1132
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1133
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1134
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1135
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1136
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1137
        EC_ERR("Failed to set DC start time of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1138
                slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1139
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1140
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1141
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1142
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1143
    // assign sync unit to EtherCAT or PDI
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1144
    ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1145
    EC_WRITE_U16(datagram->data, config->dc_assign_activate);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1146
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1147
    fsm->state = ec_fsm_slave_config_state_dc_assign;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1148
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1149
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1150
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1151
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1152
/** Slave configuration state: DC ASSIGN.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1153
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1154
void ec_fsm_slave_config_state_dc_assign(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1155
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1156
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1157
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1158
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1159
    ec_slave_t *slave = fsm->slave;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1160
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1161
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1162
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1163
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1164
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1165
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1166
        EC_ERR("Failed to receive DC activation datagram for slave %u"
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1167
                " (datagram state %u).\n",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1168
                slave->ring_position, datagram->state);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1169
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1170
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1171
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1172
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1173
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1174
        fsm->state = ec_fsm_slave_config_state_error;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1175
        EC_ERR("Failed to set DC cyclic operation state of slave %u: ",
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1176
                slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1177
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1178
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1179
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1180
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1181
    ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1182
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1184
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1186
/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1187
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1188
void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1189
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1190
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1192
    fsm->state = ec_fsm_slave_config_state_safeop;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1193
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1194
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1196
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1199
/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1200
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1201
void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1202
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1203
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1204
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1205
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1206
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1207
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1208
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1209
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1210
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1211
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1212
            fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1213
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1214
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1215
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1216
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1217
    // slave is now in SAFEOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1218
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1219
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1220
        EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1221
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1222
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1223
    if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1224
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1225
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1226
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1227
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1228
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1229
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1230
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
    // set state to OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
    fsm->state = ec_fsm_slave_config_state_op;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1234
    ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1235
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1237
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1238
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1239
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1240
/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1241
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1242
void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1243
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1244
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1245
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1246
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1247
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1248
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1249
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1250
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1251
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1252
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1253
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1254
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1255
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1256
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1257
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1258
    // slave is now in OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1260
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1261
        EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1262
        EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1263
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1264
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
    fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1268
/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1269
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1270
/** Reconfigure the slave starting at INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1271
 */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1272
void ec_fsm_slave_config_reconfigure(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1273
        ec_fsm_slave_config_t *fsm /**< slave state machine */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1274
        )
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1275
{
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1276
    if (fsm->slave->master->debug_level) {
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1277
        EC_DBG("Slave configuration for slave %u detached during "
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1278
                "configuration. Reconfiguring.", fsm->slave->ring_position);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1279
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1280
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1281
    ec_fsm_slave_config_enter_init(fsm); // reconfigure
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1282
}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1283
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1284
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1285
 *  Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1286
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1287
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1288
/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1289
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1290
void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1291
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1292
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1293
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1294
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1295
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1296
/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1297
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1298
/** State: END.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1299
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1300
void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1301
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1302
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1303
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1304
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1305
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1306
/*****************************************************************************/