master/fsm_master.c
author Florian Pose <fp@igh-essen.com>
Wed, 07 Mar 2007 17:27:25 +0000
changeset 634 ae5fb70b359f
parent 612 aede068f9a74
child 637 d5d04c868e0e
permissions -rw-r--r--
Updated TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT finite state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_master.h"
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/*****************************************************************************/
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void ec_fsm_master_state_start(ec_fsm_master_t *);
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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void ec_fsm_master_state_read_states(ec_fsm_master_t *);
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
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void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
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void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
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void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
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void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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void ec_fsm_master_state_end(ec_fsm_master_t *);
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void ec_fsm_master_state_error(ec_fsm_master_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
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        ec_master_t *master, /**< EtherCAT master */
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        ec_datagram_t *datagram /**< datagram object to use */
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        )
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{
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    fsm->master = master;
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    fsm->datagram = datagram;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->slaves_responding = 0;
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    fsm->topology_change_pending = 0;
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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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    fsm->validate = 0;
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    fsm->tainted = 0;
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    // init sub-state-machines
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    ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram);
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    // clear sub-state machines
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    ec_fsm_slave_clear(&fsm->fsm_slave);
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   If the state machine's datagram is not sent or received yet, the execution
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   of the state machine is delayed to the next cycle.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_master_exec(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return ec_fsm_master_running(fsm);
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    }
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    fsm->state(fsm);
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    return ec_fsm_master_running(fsm);
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}
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/*****************************************************************************/
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/**
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   \return false, if state machine has terminated
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*/
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528
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int ec_fsm_master_running(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    return fsm->state != ec_fsm_master_state_end
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        && fsm->state != ec_fsm_master_state_error;
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}
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/*****************************************************************************/
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/**
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   \return true, if the master state machine terminated gracefully
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*/
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528
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int ec_fsm_master_success(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    return fsm->state == ec_fsm_master_state_end;
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}
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238
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/******************************************************************************
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 *  operation/idle state machine
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 *****************************************************************************/
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/**
260
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   Master state: START.
238
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   Starts with getting slave count and slave states.
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*/
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void ec_fsm_master_state_start(ec_fsm_master_t *fsm)
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{
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
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    ec_master_queue_datagram(fsm->master, fsm->datagram);
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    fsm->state = ec_fsm_master_state_broadcast;
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}
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/*****************************************************************************/
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/**
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   Master state: BROADCAST.
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   Processes the broadcast read slave count and slaves states.
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*/
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    unsigned int i;
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    ec_slave_t *slave;
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    ec_master_t *master = fsm->master;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT) {
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        // always retry
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        ec_master_queue_datagram(fsm->master, fsm->datagram);
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        return;
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    }
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    if (datagram->state != EC_DATAGRAM_RECEIVED) { // EC_DATAGRAM_ERROR
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        // link is down
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        fsm->slaves_responding = 0;
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        list_for_each_entry(slave, &master->slaves, list) {
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            ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
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        }
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        fsm->state = ec_fsm_master_state_error;
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        return;
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    }
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    // bus topology change?
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    if (datagram->working_counter != fsm->slaves_responding) {
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        fsm->topology_change_pending = 1;
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        fsm->slaves_responding = datagram->working_counter;
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262
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        EC_INFO("%i slave%s responding.\n",
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                fsm->slaves_responding,
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                fsm->slaves_responding == 1 ? "" : "s");
262
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325
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        if (master->mode == EC_MASTER_MODE_OPERATION) {
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            if (fsm->slaves_responding == master->slave_count) {
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                fsm->validate = 1; // start validation later
262
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            }
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            else {
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                EC_WARN("Invalid slave count. Bus in tainted state.\n");
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                fsm->tainted = 1;
262
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   211
            }
260
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        }
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    }
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    // slave states changed?
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   216
    if (EC_READ_U8(datagram->data) != fsm->slave_states) {
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7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
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        char states[EC_STATE_STRING_SIZE];
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        fsm->slave_states = EC_READ_U8(datagram->data);
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        ec_state_string(fsm->slave_states, states);
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        EC_INFO("Slave states: %s.\n", states);
260
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   221
    }
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   222
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
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    // topology change in idle mode: clear all slaves and scan the bus
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    if (fsm->topology_change_pending &&
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            master->mode == EC_MASTER_MODE_IDLE) {
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   226
        fsm->topology_change_pending = 0;
260
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        ec_master_eoe_stop(master);
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e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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        ec_master_destroy_slaves(master);
260
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   230
325
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        master->slave_count = datagram->working_counter;
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        if (!master->slave_count) {
260
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            // no slaves present -> finish state machine.
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            fsm->state = ec_fsm_master_state_end;
251
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   236
            return;
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   237
        }
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   238
260
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        // init slaves
325
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   240
        for (i = 0; i < master->slave_count; i++) {
260
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   241
            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
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   242
                                                 GFP_ATOMIC))) {
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   243
                EC_ERR("Failed to allocate slave %i!\n", i);
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   244
                ec_master_destroy_slaves(master);
528
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                fsm->state = ec_fsm_master_state_error;
260
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   246
                return;
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   247
            }
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            if (ec_slave_init(slave, master, i, i + 1)) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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                // freeing of "slave" already done
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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                ec_master_destroy_slaves(master);
528
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                fsm->state = ec_fsm_master_state_error;
260
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   253
                return;
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   254
            }
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            list_add_tail(&slave->list, &master->slaves);
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   257
        }
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   258
446
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        EC_INFO("Scanning bus.\n");
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260
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        // begin scanning of slaves
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   262
        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
530
3e0611dfe020 Fixed bug in master state machine that came up in r745.
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   263
        ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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   264
        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
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   265
        fsm->state = ec_fsm_master_state_scan_slaves;
260
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   266
        return;
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   267
    }
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   268
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    // fetch state from each slave
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   270
    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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    ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
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    ec_master_queue_datagram(master, fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
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    fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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    fsm->state = ec_fsm_master_state_read_states;
304
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   275
}
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/*****************************************************************************/
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   279
/**
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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 * Check for pending EEPROM write requests and process one.
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 * \return non-zero, if an EEPROM write request is processed.
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 */
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   284
int ec_fsm_master_action_process_eeprom(
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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        ec_fsm_master_t *fsm /**< master state machine */
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   286
        )
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{
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   288
    ec_master_t *master = fsm->master;
604
74ceacf42710 Fixed possible race with next request pointer again.
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    ec_eeprom_write_request_t *request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   290
    ec_slave_t *slave;
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   291
604
74ceacf42710 Fixed possible race with next request pointer again.
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    // search the first request to be processed
74ceacf42710 Fixed possible race with next request pointer again.
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   293
    while (1) {
74ceacf42710 Fixed possible race with next request pointer again.
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   294
        down(&master->eeprom_sem);
74ceacf42710 Fixed possible race with next request pointer again.
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   295
        if (list_empty(&master->eeprom_requests)) {
74ceacf42710 Fixed possible race with next request pointer again.
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   296
            up(&master->eeprom_sem);
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   297
            break;
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   298
        }
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   299
        // get first request
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   300
        request = list_entry(master->eeprom_requests.next,
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   301
                ec_eeprom_write_request_t, list);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   302
        list_del_init(&request->list); // dequeue
605
96a894895999 Fixed signal issue in EEPROM writing code.
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diff changeset
   303
        request->state = EC_EEPROM_REQ_BUSY;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   304
        up(&master->eeprom_sem);
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   305
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   306
        slave = request->slave;
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   307
        if (slave->online_state == EC_SLAVE_OFFLINE || slave->error_flag) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   308
            EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
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diff changeset
   309
                    slave->ring_position);
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   310
            request->state = EC_EEPROM_REQ_ERROR;
605
96a894895999 Fixed signal issue in EEPROM writing code.
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   311
            wake_up(&master->eeprom_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   312
            continue;
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   313
        }
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   314
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   315
        // found pending EEPROM write operation. execute it!
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
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diff changeset
   316
        if (master->debug_level)
7b1daa325c5f Implemented alias reading/writing via sysfs.
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   317
            EC_DBG("Writing EEPROM data to slave %i...\n",
7b1daa325c5f Implemented alias reading/writing via sysfs.
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diff changeset
   318
                    slave->ring_position);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   319
        fsm->eeprom_request = request;
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   320
        fsm->eeprom_index = 0;
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   321
        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   322
                request->words, EC_FSM_SII_NODE);
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diff changeset
   323
        fsm->state = ec_fsm_master_state_write_eeprom;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   324
        fsm->state(fsm); // execute immediately
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diff changeset
   325
        return 1;
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diff changeset
   326
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   327
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   328
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   329
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   330
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   331
/*****************************************************************************/
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   332
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   333
/**
304
558a6669da90 Better master state machines.
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   334
   Master action: PROC_STATES.
558a6669da90 Better master state machines.
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   335
   Processes the slave states.
558a6669da90 Better master state machines.
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diff changeset
   336
*/
558a6669da90 Better master state machines.
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diff changeset
   337
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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diff changeset
   338
void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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   339
                                         /**< master state machine */
304
558a6669da90 Better master state machines.
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diff changeset
   340
                                         )
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diff changeset
   341
{
558a6669da90 Better master state machines.
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diff changeset
   342
    ec_master_t *master = fsm->master;
558a6669da90 Better master state machines.
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   343
    ec_slave_t *slave;
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 402
diff changeset
   344
    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
304
558a6669da90 Better master state machines.
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diff changeset
   345
558a6669da90 Better master state machines.
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diff changeset
   346
    // check if any slaves are not in the state, they're supposed to be
558a6669da90 Better master state machines.
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diff changeset
   347
    list_for_each_entry(slave, &master->slaves, list) {
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   348
        if (slave->error_flag
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
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diff changeset
   349
            || slave->online_state == EC_SLAVE_OFFLINE
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
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diff changeset
   350
            || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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diff changeset
   351
            || (slave->current_state == slave->requested_state
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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diff changeset
   352
                && slave->self_configured)) continue;
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
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diff changeset
   353
446
8fede404c01f Persistent slave lists.
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diff changeset
   354
        if (master->debug_level) {
8fede404c01f Persistent slave lists.
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diff changeset
   355
            ec_state_string(slave->current_state, old_state);
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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parents: 522
diff changeset
   356
            if (slave->current_state != slave->requested_state) {
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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parents: 522
diff changeset
   357
                ec_state_string(slave->requested_state, new_state);
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
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diff changeset
   358
                EC_DBG("Changing state of slave %i (%s -> %s).\n",
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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parents: 522
diff changeset
   359
                       slave->ring_position, old_state, new_state);
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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diff changeset
   360
            }
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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diff changeset
   361
            else if (!slave->self_configured) {
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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parents: 522
diff changeset
   362
                EC_DBG("Reconfiguring slave %i (%s).\n",
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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parents: 522
diff changeset
   363
                       slave->ring_position, old_state);
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
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diff changeset
   364
            }
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
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diff changeset
   365
        }
304
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   366
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   367
        fsm->slave = slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   368
        ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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parents: 523
diff changeset
   369
        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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diff changeset
   370
        fsm->state = ec_fsm_master_state_configure_slave;
304
558a6669da90 Better master state machines.
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diff changeset
   371
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   372
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   373
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   374
    // Check, if EoE processing has to be started
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   375
    ec_master_eoe_start(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   376
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   377
    if (master->mode == EC_MASTER_MODE_IDLE) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   378
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   379
        // Check for a pending SDO request
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   380
        if (master->sdo_seq_master != master->sdo_seq_user) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   381
            if (master->debug_level)
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   382
                EC_DBG("Processing SDO request...\n");
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   383
            slave = master->sdo_request->sdo->slave;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   384
            if (slave->current_state == EC_SLAVE_STATE_INIT
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   385
                || slave->online_state == EC_SLAVE_OFFLINE) {
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   386
                EC_ERR("Failed to process SDO request, slave %i not ready.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   387
                       slave->ring_position);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   388
                master->sdo_request->return_code = -1;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   389
                master->sdo_seq_master++;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   390
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   391
            else {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   392
                // start uploading SDO
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   393
                fsm->slave = slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   394
                fsm->state = ec_fsm_master_state_sdo_request;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   395
                fsm->sdo_request = master->sdo_request;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   396
                ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   397
                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   398
                return;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   399
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   400
        }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   401
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   402
        // check, if slaves have an SDO dictionary to read out.
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   403
        list_for_each_entry(slave, &master->slaves, list) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   404
            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   405
                || slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   406
                || slave->current_state == EC_SLAVE_STATE_INIT
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   407
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   408
                || slave->online_state == EC_SLAVE_OFFLINE
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   409
                || slave->error_flag) continue;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   410
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   411
            if (master->debug_level) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   412
                EC_DBG("Fetching SDO dictionary from slave %i.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   413
                       slave->ring_position);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   414
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   415
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   416
            slave->sdo_dictionary_fetched = 1;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   417
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   418
            // start fetching SDO dictionary
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   419
            fsm->slave = slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   420
            fsm->state = ec_fsm_master_state_sdodict;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   421
            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   422
            ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   423
            return;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   424
        }
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   425
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   426
        // check for pending EEPROM write operations.
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   427
        if (ec_fsm_master_action_process_eeprom(fsm))
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   428
            return; // EEPROM write request found
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   429
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   430
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   431
    fsm->state = ec_fsm_master_state_end;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   432
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   433
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   434
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   435
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   436
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   437
   Master action: Get state of next slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   438
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   439
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   440
void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   441
                                           /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   442
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   443
    ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   444
    ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   445
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   446
    // is there another slave to query?
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   447
    if (slave->list.next != &master->slaves) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   448
        // process next slave
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   449
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   450
        ec_datagram_nprd(fsm->datagram, fsm->slave->station_address,
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   451
                         0x0130, 2);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   452
        ec_master_queue_datagram(master, fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   453
        fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   454
        fsm->state = ec_fsm_master_state_read_states;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   455
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   456
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   457
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   458
    // all slave states read
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   459
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   460
    // check, if a bus validation has to be done
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   461
    if (fsm->validate) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   462
        fsm->validate = 0;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   463
        list_for_each_entry(slave, &master->slaves, list) {
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   464
            if (slave->online_state == EC_SLAVE_ONLINE) continue;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   465
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   466
            // At least one slave is offline. validate!
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   467
            EC_INFO("Validating bus.\n");
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   468
            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   469
            fsm->state = ec_fsm_master_state_validate_vendor;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   470
            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   471
            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   472
            return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   473
        }
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   474
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   475
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   476
    ec_fsm_master_action_process_states(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   477
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   478
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   479
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   480
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   481
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   482
   Master state: READ STATES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   483
   Fetches the AL- and online state of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   484
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   485
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   486
void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   487
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   488
    ec_slave_t *slave = fsm->slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   489
    ec_datagram_t *datagram = fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   490
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   491
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   492
        ec_master_queue_datagram(fsm->master, fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   493
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   494
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   495
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   496
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   497
        EC_ERR("Failed to receive AL state datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   498
                " (datagram state %i)\n", slave->ring_position, datagram->state);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   499
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   503
    // did the slave not respond to its station address?
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   504
    if (datagram->working_counter != 1) {
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   505
        ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   506
        ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   507
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   508
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   509
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   510
    // slave responded
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   511
    ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   512
    ec_slave_set_online_state(slave, EC_SLAVE_ONLINE);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   513
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   514
    // check, if new slave state has to be acknowledged
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   515
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   516
        ec_fsm_change_ack(&fsm->fsm_change, slave);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   517
        ec_fsm_change_exec(&fsm->fsm_change);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   518
        fsm->state = ec_fsm_master_state_acknowledge;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   519
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   520
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   521
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   522
    ec_fsm_master_action_next_slave_state(fsm);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   523
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   524
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   525
/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   526
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   527
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   528
   Master state: ACKNOWLEDGE
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   529
*/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   530
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   531
void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */)
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   532
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   533
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   534
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   535
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   536
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   537
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   538
        fsm->slave->error_flag = 1;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   539
        EC_ERR("Failed to acknowledge state change on slave %i.\n",
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   540
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   541
        fsm->state = ec_fsm_master_state_error;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   542
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   543
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   544
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   545
    ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   546
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   547
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   548
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   549
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   550
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   551
   Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   552
   Validates the vendor ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   553
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   554
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   555
void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *fsm /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   556
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   557
    ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   558
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   559
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   560
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   561
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   562
        fsm->slave->error_flag = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   563
        EC_ERR("Failed to validate vendor ID of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   564
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   565
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   569
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   570
        EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   571
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   575
    // vendor ID is ok. check product code.
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   576
    fsm->state = ec_fsm_master_state_validate_product;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   577
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   578
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   579
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   580
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   581
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   582
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   583
/**
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   584
   Master action: ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   585
   Looks for slave, that have lost their configuration and writes
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   586
   their station address, so that they can be reconfigured later.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   587
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   588
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   589
void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machine */)
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   590
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   591
    ec_datagram_t *datagram = fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   592
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   593
    while (fsm->slave->online_state == EC_SLAVE_ONLINE) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   594
        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   595
            fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   596
            fsm->state(fsm); // execute immediately
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   597
            return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   599
        // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   600
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   601
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   602
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   603
    if (fsm->master->debug_level)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   604
        EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   605
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   606
    // write station address
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   607
    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   608
    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   609
    ec_master_queue_datagram(fsm->master, datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   610
    fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   611
    fsm->state = ec_fsm_master_state_rewrite_addresses;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   612
}
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   613
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   614
/*****************************************************************************/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   615
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   616
/**
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   617
   Master state: VALIDATE_PRODUCT.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   618
   Validates the product ID of a slave.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   619
*/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   620
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   621
void ec_fsm_master_state_validate_product(ec_fsm_master_t *fsm /**< master state machine */)
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   622
{
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   623
    ec_slave_t *slave = fsm->slave;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   624
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   625
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   626
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   627
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   628
        fsm->slave->error_flag = 1;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   629
        EC_ERR("Failed to validate product code of slave %i.\n",
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   630
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   631
        fsm->state = ec_fsm_master_state_error;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   632
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   633
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   634
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   635
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   636
        EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   637
        EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   638
               EC_READ_U32(fsm->fsm_sii.value));
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   639
        fsm->state = ec_fsm_master_state_error;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   640
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   641
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   642
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   643
    // have all states been validated?
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   644
    if (slave->list.next == &fsm->master->slaves) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   645
        fsm->tainted = 0;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   646
        fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   647
        // start writing addresses to offline slaves
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   648
        ec_fsm_master_action_addresses(fsm);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   649
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   650
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   651
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   652
    // validate next slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   653
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   654
    fsm->state = ec_fsm_master_state_validate_vendor;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   655
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   656
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   657
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   658
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   659
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   660
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   661
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   662
   Master state: REWRITE ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   663
   Checks, if the new station address has been written to the slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   664
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   665
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   666
void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   667
                                     /**< master state machine */
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   668
                                     )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   669
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   670
    ec_slave_t *slave = fsm->slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   671
    ec_datagram_t *datagram = fsm->datagram;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   672
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   673
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   674
        ec_master_queue_datagram(fsm->master, fsm->datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   675
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   676
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   677
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   678
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   679
        EC_ERR("Failed to receive address datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   680
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   681
                slave->ring_position, datagram->state);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   682
        fsm->state = ec_fsm_master_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   683
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   684
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   685
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   686
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   687
        EC_ERR("Failed to write station address - slave %i did not respond.\n",
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   688
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   689
        fsm->state = ec_fsm_master_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   690
        return;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   691
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   692
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   693
    if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   694
        fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   695
        fsm->state(fsm); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   696
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   697
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   698
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   699
    // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   700
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   701
    // Write new station address to slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   702
    ec_fsm_master_action_addresses(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   708
   Master state: SCAN SLAVES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   709
   Executes the sub-statemachine for the scanning of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   710
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   711
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   712
void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *fsm /**< master state machine */)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
    ec_master_t *master = fsm->master;
538
84beb49d1b11 Fixed bug that caused the last slave not to be scanned.
Florian Pose <fp@igh-essen.com>
parents: 530
diff changeset
   715
    ec_slave_t *slave;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   716
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   717
    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   718
        return;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   719
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   720
    // another slave to fetch?
538
84beb49d1b11 Fixed bug that caused the last slave not to be scanned.
Florian Pose <fp@igh-essen.com>
parents: 530
diff changeset
   721
    if (fsm->slave->list.next != &master->slaves) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   722
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
538
84beb49d1b11 Fixed bug that caused the last slave not to be scanned.
Florian Pose <fp@igh-essen.com>
parents: 530
diff changeset
   723
        ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   724
        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   725
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   726
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   727
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   728
    EC_INFO("Bus scanning completed.\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   729
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   730
    ec_master_calc_addressing(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   731
428
2731a2fcc18d Set initial state of all slaves to PREOP.
Florian Pose <fp@igh-essen.com>
parents: 427
diff changeset
   732
    // set initial states of all slaves to PREOP to make mailbox
2731a2fcc18d Set initial state of all slaves to PREOP.
Florian Pose <fp@igh-essen.com>
parents: 427
diff changeset
   733
    // communication possible
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   734
    list_for_each_entry(slave, &master->slaves, list) {
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   735
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   736
    }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   737
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   738
    fsm->state = ec_fsm_master_state_end;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   742
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   743
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   744
   Master state: CONFIGURE SLAVES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   745
   Starts configuring a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   746
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   747
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   748
void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   749
                                   /**< master state machine */
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   750
                                   )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   751
{
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   752
    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   753
        return;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   754
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   755
    ec_fsm_master_action_process_states(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   758
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   759
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   760
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   761
   Master state: WRITE EEPROM.
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   762
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   763
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   764
void ec_fsm_master_state_write_eeprom(
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   765
        ec_fsm_master_t *fsm /**< master state machine */)
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   766
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   767
    ec_master_t *master = fsm->master;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   768
    ec_eeprom_write_request_t *request = fsm->eeprom_request;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   769
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   770
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   771
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   772
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   773
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   774
        slave->error_flag = 1;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   775
        EC_ERR("Failed to write EEPROM data to slave %i.\n",
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   776
                slave->ring_position);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   777
        request->state = EC_EEPROM_REQ_ERROR;
605
96a894895999 Fixed signal issue in EEPROM writing code.
Florian Pose <fp@igh-essen.com>
parents: 604
diff changeset
   778
        wake_up(&master->eeprom_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   779
        fsm->state = ec_fsm_master_state_error;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   780
        return;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   781
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   782
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   783
    fsm->eeprom_index++;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   784
    if (fsm->eeprom_index < request->size) {
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   785
        ec_fsm_sii_write(&fsm->fsm_sii, slave,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   786
                request->offset + fsm->eeprom_index,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   787
                request->words + fsm->eeprom_index,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   788
                EC_FSM_SII_NODE);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   789
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   790
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   791
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   792
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   793
    // finished writing EEPROM
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   794
    if (master->debug_level)
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   795
        EC_DBG("Finished writing EEPROM data to slave %i.\n",
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   796
                slave->ring_position);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   797
    request->state = EC_EEPROM_REQ_COMPLETED;
605
96a894895999 Fixed signal issue in EEPROM writing code.
Florian Pose <fp@igh-essen.com>
parents: 604
diff changeset
   798
    wake_up(&master->eeprom_queue);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   799
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   800
    // TODO: Evaluate new EEPROM contents!
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   801
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   802
    // check for another EEPROM write request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   803
    if (ec_fsm_master_action_process_eeprom(fsm))
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   804
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   805
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   806
    // restart master state machine.
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   807
    fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   808
    fsm->state(fsm); // execute immediately
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   809
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   810
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   811
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   812
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   813
/**
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   814
   Master state: SDODICT.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   815
*/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   816
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   817
void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */)
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   818
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   819
    ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   820
    ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   821
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   822
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   823
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   824
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   825
        fsm->state = ec_fsm_master_state_error;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   826
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   827
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   828
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   829
    // SDO dictionary fetching finished
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   830
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   831
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   832
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   833
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   834
        EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   835
               sdo_count, entry_count, slave->ring_position);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   836
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   837
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   838
    // restart master state machine.
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   839
    fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   840
    fsm->state(fsm); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   841
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   842
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   843
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   844
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   845
/**
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   846
   Master state: SDO REQUEST.
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   847
*/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   848
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   849
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   850
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   851
    ec_master_t *master = fsm->master;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   852
    ec_sdo_request_t *request = fsm->sdo_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   853
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   854
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   855
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   856
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   857
        request->return_code = -1;
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   858
        master->sdo_seq_master++;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   859
        fsm->state = ec_fsm_master_state_error;
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   860
        return;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   861
    }
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   862
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   863
    // SDO dictionary fetching finished
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   864
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   865
    request->return_code = 1;
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   866
    master->sdo_seq_master++;
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   867
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   868
    // restart master state machine.
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   869
    fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   870
    fsm->state(fsm); // execute immediately
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   871
}
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   872
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   873
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   874
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   875
/**
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   876
   State: ERROR.
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   877
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   878
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   879
void ec_fsm_master_state_error(
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   880
        ec_fsm_master_t *fsm /**< master state machine */
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   881
        )
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   882
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   883
    fsm->state = ec_fsm_master_state_start;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   884
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   885
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   886
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   887
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   888
/**
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   889
   State: END.
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   890
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   891
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   892
void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */)
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   893
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   894
    fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   895
}
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   896
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   897
/*****************************************************************************/
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   898