master/fsm_slave_config.c
author Florian Pose <fp@igh-essen.com>
Thu, 25 Feb 2016 15:23:42 +0100
branchstable-1.5
changeset 2640 b11e1014edfe
parent 2508 6b21b3f88a9a
child 2658 7690a5df7539
permissions -rw-r--r--
Prevent CCAT auto-loading.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 *
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 * EtherCAT slave configuration state machine.
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 */
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/*****************************************************************************/
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#include <asm/div64.h>
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave_config.h"
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/*****************************************************************************/
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/** Maximum clock difference (in ns) before going to SAFEOP.
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 *
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 * Wait for DC time difference to drop under this absolute value before
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 * requesting SAFEOP.
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 */
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#define EC_DC_MAX_SYNC_DIFF_NS 10000
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/** Maximum time (in ms) to wait for clock discipline.
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 */
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#define EC_DC_SYNC_WAIT_MS 5000
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/** Time offset (in ns), that is added to cyclic start time.
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 */
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#define EC_DC_START_OFFSET 100000000ULL
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/*****************************************************************************/
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
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#ifdef EC_SII_ASSIGN
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void ec_fsm_slave_config_state_assign_pdi(ec_fsm_slave_config_t *);
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#endif
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void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
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#ifdef EC_SII_ASSIGN
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void ec_fsm_slave_config_state_assign_ethercat(ec_fsm_slave_config_t *);
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#endif
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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_soe_conf_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
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#ifdef EC_SII_ASSIGN
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void ec_fsm_slave_config_enter_assign_pdi(ec_fsm_slave_config_t *);
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#endif
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void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_soe_conf_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_config_init(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
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        ec_datagram_t *datagram, /**< datagram structure to use */
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        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
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        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
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        ec_fsm_soe_t *fsm_soe, /**< SoE state machine to use. */
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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
830
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        )
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{
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    ec_sdo_request_init(&fsm->request_copy);
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    ec_soe_request_init(&fsm->soe_request_copy);
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    fsm->datagram = datagram;
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    fsm->fsm_change = fsm_change;
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    fsm->fsm_coe = fsm_coe;
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    fsm->fsm_soe = fsm_soe;
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    fsm->fsm_pdo = fsm_pdo;
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_config_clear(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    ec_sdo_request_clear(&fsm->request_copy);
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    ec_soe_request_clear(&fsm->soe_request_copy);
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}
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/*****************************************************************************/
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/** Start slave configuration state machine.
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 */
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void ec_fsm_slave_config_start(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
830
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_slave_config_state_start;
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}
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/*****************************************************************************/
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/**
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_slave_config_running(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    return fsm->state != ec_fsm_slave_config_state_end
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        && fsm->state != ec_fsm_slave_config_state_error;
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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 * of the state machine is delayed to the next cycle.
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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_slave_config_exec(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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   192
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   193
        // datagram was not sent or received yet.
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        return ec_fsm_slave_config_running(fsm);
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   195
    }
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    fsm->state(fsm);
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   198
    return ec_fsm_slave_config_running(fsm);
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   199
}
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/*****************************************************************************/
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/**
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 * \return true, if the state machine terminated gracefully
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 */
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int ec_fsm_slave_config_success(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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   208
        )
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{
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    return fsm->state == ec_fsm_slave_config_state_end;
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   211
}
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/******************************************************************************
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 * Slave configuration state machine
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 *****************************************************************************/
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/** Slave configuration state: START.
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   218
 */
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void ec_fsm_slave_config_state_start(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   221
        )
830
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   222
{
1921
d9cf40facbc4 Improved syslog macros.
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   223
    EC_SLAVE_DBG(fsm->slave, 1, "Configuring...\n");
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   224
    ec_fsm_slave_config_enter_init(fsm);
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   225
}
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   226
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/*****************************************************************************/
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   228
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   229
/** Start state change to INIT.
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   230
 */
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   231
void ec_fsm_slave_config_enter_init(
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   232
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   233
        )
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   234
{
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   235
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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   236
    ec_fsm_change_exec(fsm->fsm_change);
830
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   237
    fsm->state = ec_fsm_slave_config_state_init;
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   238
}
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   239
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   240
/*****************************************************************************/
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   241
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   242
/** Slave configuration state: INIT.
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   243
 */
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   244
void ec_fsm_slave_config_state_init(
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   245
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   246
        )
830
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   247
{
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   248
    ec_slave_t *slave = fsm->slave;
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   249
    ec_datagram_t *datagram = fsm->datagram;
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   250
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   251
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
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   252
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   253
    if (!ec_fsm_change_success(fsm->fsm_change)) {
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   254
        if (!fsm->fsm_change->spontaneous_change)
830
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   255
            slave->error_flag = 1;
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diff changeset
   256
        fsm->state = ec_fsm_slave_config_state_error;
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diff changeset
   257
        return;
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diff changeset
   258
    }
d83d92e1a919 Separated slave state machines.
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   259
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   260
    EC_SLAVE_DBG(slave, 1, "Now in INIT.\n");
830
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   261
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   262
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1342
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   263
        ec_fsm_slave_config_enter_clear_sync(fsm);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   264
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   265
    }
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   266
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   267
    EC_SLAVE_DBG(slave, 1, "Clearing FMMU configurations...\n");
830
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   268
d83d92e1a919 Separated slave state machines.
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   269
    // clear FMMU configurations
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   270
    ec_datagram_fpwr(datagram, slave->station_address,
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parents:
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   271
            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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diff changeset
   272
    ec_datagram_zero(datagram);
830
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   273
    fsm->retries = EC_FSM_RETRIES;
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   274
    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
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diff changeset
   275
}
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   276
d83d92e1a919 Separated slave state machines.
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   277
/*****************************************************************************/
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   278
1064
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   279
/** Slave configuration state: CLEAR FMMU.
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   280
 */
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diff changeset
   281
void ec_fsm_slave_config_state_clear_fmmus(
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diff changeset
   282
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
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diff changeset
   283
        )
830
d83d92e1a919 Separated slave state machines.
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   284
{
d83d92e1a919 Separated slave state machines.
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parents:
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   285
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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   286
d83d92e1a919 Separated slave state machines.
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parents:
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   287
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
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   288
        return;
d83d92e1a919 Separated slave state machines.
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parents:
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   289
d83d92e1a919 Separated slave state machines.
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parents:
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   290
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   291
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   292
        EC_SLAVE_ERR(fsm->slave, "Failed receive FMMU clearing datagram.\n");
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   293
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   294
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   295
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   297
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   298
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   299
        EC_SLAVE_ERR(fsm->slave, "Failed to clear FMMUs: ");
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   300
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   301
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   302
    }
d83d92e1a919 Separated slave state machines.
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parents:
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   303
1342
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   304
    ec_fsm_slave_config_enter_clear_sync(fsm);
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diff changeset
   305
}
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diff changeset
   306
a72b9b370277 Clear sync managers before configuration.
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   307
/*****************************************************************************/
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diff changeset
   308
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   309
/** Clear the sync manager configurations.
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   310
 */
a72b9b370277 Clear sync managers before configuration.
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   311
void ec_fsm_slave_config_enter_clear_sync(
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   312
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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diff changeset
   313
        )
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   314
{
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   315
    ec_slave_t *slave = fsm->slave;
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   316
    ec_datagram_t *datagram = fsm->datagram;
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diff changeset
   317
    size_t sync_size;
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   318
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
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diff changeset
   319
    if (!slave->base_sync_count) {
1404
b7ea043d5081 Minor changes.
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parents: 1396
diff changeset
   320
        // no sync managers
1407
e3974f72d31e Improved DC configuration.
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diff changeset
   321
        ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1342
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   322
        return;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   323
    }
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   324
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   325
    EC_SLAVE_DBG(slave, 1, "Clearing sync manager configurations...\n");
1344
e5756d4ed12c Debug message.
Florian Pose <fp@igh-essen.com>
parents: 1342
diff changeset
   326
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   327
    sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
1342
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   328
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   329
    // clear sync manager configurations
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   330
    ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
1896
1d4bca6ba543 Use ec_datagram_zero() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1889
diff changeset
   331
    ec_datagram_zero(datagram);
1342
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   332
    fsm->retries = EC_FSM_RETRIES;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   333
    fsm->state = ec_fsm_slave_config_state_clear_sync;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   334
}
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   335
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   336
/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   337
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   338
/** Slave configuration state: CLEAR SYNC.
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   339
 */
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   340
void ec_fsm_slave_config_state_clear_sync(
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   341
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   342
        )
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   343
{
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   344
    ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   345
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   346
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   347
        return;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   348
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   349
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   350
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   351
        EC_SLAVE_ERR(fsm->slave, "Failed receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   352
                " clearing datagram.\n");
1342
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   353
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   354
    }
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   355
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   356
    if (datagram->working_counter != 1) {
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   357
        fsm->slave->error_flag = 1;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   358
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   359
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   360
                "Failed to clear sync manager configurations: ");
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   361
        ec_datagram_print_wc_error(datagram);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   362
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   363
    }
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   364
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   365
    ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   366
}
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   367
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   368
/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   369
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
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diff changeset
   370
/** Clear the DC assignment.
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   371
 */
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   372
void ec_fsm_slave_config_enter_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   373
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   374
        )
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   375
{
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   376
    ec_slave_t *slave = fsm->slave;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   377
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   378
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   379
    if (!slave->base_dc_supported || !slave->has_dc_system_time) {
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   380
        ec_fsm_slave_config_enter_mbox_sync(fsm);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   381
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   382
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   383
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   384
    EC_SLAVE_DBG(slave, 1, "Clearing DC assignment...\n");
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   385
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   386
    ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   387
    ec_datagram_zero(datagram);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   388
    fsm->retries = EC_FSM_RETRIES;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   389
    fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   390
}
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   391
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   392
/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   393
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   394
/** Slave configuration state: CLEAR DC ASSIGN.
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   395
 */
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   396
void ec_fsm_slave_config_state_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   397
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   398
        )
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   399
{
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   400
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   401
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   402
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   403
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   404
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   405
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   406
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   407
        EC_SLAVE_ERR(fsm->slave, "Failed receive DC assignment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   408
                " clearing datagram.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   409
        return;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   410
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   411
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   412
    if (datagram->working_counter != 1) {
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   413
        // clearing the DC assignment does not succeed on simple slaves
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   414
        EC_SLAVE_DBG(fsm->slave, 1, "Failed to clear DC assignment: ");
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   415
        ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   416
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   417
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   423
/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   424
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
    // slave is now in INIT
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   436
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   440
    if (!slave->sii.mailbox_protocols) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
        // no mailbox protocols supported
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   442
        EC_SLAVE_DBG(slave, 1, "Slave does not support"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   443
                " mailbox communication.\n");
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   444
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   445
        ec_fsm_slave_config_enter_assign_pdi(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   446
#else
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   447
        ec_fsm_slave_config_enter_boot_preop(fsm);
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   448
#endif
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   452
    EC_SLAVE_DBG(slave, 1, "Configuring mailbox sync managers...\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   454
    if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   455
        ec_sync_t sync;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   456
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   457
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   458
                EC_SYNC_PAGE_SIZE * 2);
1896
1d4bca6ba543 Use ec_datagram_zero() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1889
diff changeset
   459
        ec_datagram_zero(datagram);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   460
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   461
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   462
        sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   463
        sync.control_register = 0x26;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   464
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   465
        ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   466
                EC_DIR_INVALID, // use default direction
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
   467
                0, // no PDO xfer
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   468
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   469
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   470
            slave->sii.boot_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   471
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   472
            slave->sii.boot_rx_mailbox_size;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   473
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   474
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   475
        sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   476
        sync.control_register = 0x22;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   477
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   478
        ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   479
                EC_DIR_INVALID, // use default direction
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
   480
                0, // no PDO xfer
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   481
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   482
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   483
            slave->sii.boot_tx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   484
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   485
            slave->sii.boot_tx_mailbox_size;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   486
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   487
    } else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   489
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   490
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
        for (i = 0; i < 2; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   493
            ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   494
                    slave->sii.syncs[i].default_length,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   495
                    NULL, // use default sync manager configuration
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
   496
                    0, // no PDO xfer
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        }
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   499
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   500
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   501
            slave->sii.syncs[0].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   502
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   503
            slave->sii.syncs[0].default_length;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   504
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   505
            slave->sii.syncs[1].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   506
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   507
            slave->sii.syncs[1].default_length;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
    } else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
        ec_sync_t sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   511
        EC_SLAVE_DBG(slave, 1, "Slave does not provide"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   512
                " mailbox sync manager configurations.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
                EC_SYNC_PAGE_SIZE * 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   516
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   518
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   519
        sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
        sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   522
        ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   523
                NULL, // use default sync manager configuration
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
   524
                0, // no PDO xfer
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   525
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   526
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   527
            slave->sii.std_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   528
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   529
            slave->sii.std_rx_mailbox_size;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   530
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   531
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   532
        sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
        sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   535
        ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   536
                NULL, // use default sync manager configuration
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
   537
                0, // no PDO xfer
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   538
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   539
        slave->configured_tx_mailbox_offset =
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   540
            slave->sii.std_tx_mailbox_offset;
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   541
        slave->configured_tx_mailbox_size =
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   542
            slave->sii.std_tx_mailbox_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   545
    fsm->take_time = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   546
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
    fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   553
/** Slave configuration state: SYNC.
1345
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   554
 *
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   555
 * \todo Timeout for response.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   556
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   557
void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   558
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   559
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   569
        EC_SLAVE_ERR(slave, "Failed to receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   570
                " configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
   571
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   575
    if (fsm->take_time) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   576
        fsm->take_time = 0;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   577
        fsm->jiffies_start = datagram->jiffies_sent;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   578
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   579
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   580
    /* Because the sync manager configurations are cleared during the last
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   581
     * cycle, some slaves do not immediately respond to the mailbox sync
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   582
     * manager configuration datagram. Therefore, resend the datagram for
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   583
     * a certain time, if the slave does not respond.
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   584
     */
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   585
    if (datagram->working_counter == 0) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   586
        unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   587
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   588
        if (diff >= HZ) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   589
            slave->error_flag = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   590
            fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   591
            EC_SLAVE_ERR(slave, "Timeout while configuring"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   592
                    " mailbox sync managers.\n");
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   593
            return;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   594
        } else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   595
            EC_SLAVE_DBG(slave, 1, "Resending after %u ms...\n",
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   596
                    (unsigned int) diff * 1000 / HZ);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   597
        }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   598
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   599
        // send configuration datagram again
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   600
        fsm->retries = EC_FSM_RETRIES;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   601
        return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   602
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   603
    else if (datagram->working_counter != 1) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   606
        EC_SLAVE_ERR(slave, "Failed to set sync managers: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   607
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   611
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   612
    ec_fsm_slave_config_enter_assign_pdi(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   613
#else
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   614
    ec_fsm_slave_config_enter_boot_preop(fsm);
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   615
#endif
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   616
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   617
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   618
/*****************************************************************************/
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   619
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   620
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   621
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   622
/** Assign SII to PDI.
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   623
 */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   624
void ec_fsm_slave_config_enter_assign_pdi(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   625
        ec_fsm_slave_config_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   626
        )
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   627
{
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   628
    ec_datagram_t *datagram = fsm->datagram;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   629
    ec_slave_t *slave = fsm->slave;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   630
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   631
    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   632
        EC_SLAVE_DBG(slave, 1, "Assigning SII access to PDI.\n");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   633
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   634
        ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 0x01);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   635
        EC_WRITE_U8(datagram->data, 0x01); // PDI
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   636
        fsm->retries = EC_FSM_RETRIES;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   637
        fsm->state = ec_fsm_slave_config_state_assign_pdi;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   638
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   639
    else {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   640
        ec_fsm_slave_config_enter_boot_preop(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   641
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   642
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   643
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   644
/*****************************************************************************/
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   645
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   646
/** Slave configuration state: ASSIGN_PDI.
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   647
 */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   648
void ec_fsm_slave_config_state_assign_pdi(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   649
        ec_fsm_slave_config_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   650
        )
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   651
{
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   652
    ec_datagram_t *datagram = fsm->datagram;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   653
    ec_slave_t *slave = fsm->slave;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   654
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   655
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   656
        return;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   657
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   658
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   659
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   660
        EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   661
        ec_datagram_print_state(datagram);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   662
        goto cont_preop;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   663
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   664
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   665
    if (datagram->working_counter != 1) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   666
        EC_SLAVE_WARN(slave, "Failed to assign SII to PDI: ");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   667
        ec_datagram_print_wc_error(datagram);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   668
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   669
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   670
cont_preop:
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   671
    ec_fsm_slave_config_enter_boot_preop(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   672
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   673
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   674
#endif
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   678
/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   679
 */
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   680
void ec_fsm_slave_config_enter_boot_preop(
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   681
        ec_fsm_slave_config_t *fsm /**< slave state machine */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   682
        )
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   683
{
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   684
    fsm->state = ec_fsm_slave_config_state_boot_preop;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   685
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   686
    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   687
        ec_fsm_change_start(fsm->fsm_change,
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   688
                fsm->slave, EC_SLAVE_STATE_PREOP);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   689
    } else { // BOOT
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   690
        ec_fsm_change_start(fsm->fsm_change,
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   691
                fsm->slave, EC_SLAVE_STATE_BOOT);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   692
    }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   693
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   694
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   699
/** Slave configuration state: BOOT/PREOP.
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   700
 */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   701
void ec_fsm_slave_config_state_boot_preop(
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   702
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   703
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   707
    if (ec_fsm_change_exec(fsm->fsm_change)) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   708
        return;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   709
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   710
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   711
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   712
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   718
    // slave is now in BOOT or PREOP
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
    slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   721
    EC_SLAVE_DBG(slave, 1, "Now in %s.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   722
            slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   724
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   725
    EC_SLAVE_DBG(slave, 1, "Assigning SII access back to EtherCAT.\n");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   726
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   727
    ec_datagram_fpwr(fsm->datagram, slave->station_address, 0x0500, 0x01);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   728
    EC_WRITE_U8(fsm->datagram->data, 0x00); // EtherCAT
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   729
    fsm->retries = EC_FSM_RETRIES;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   730
    fsm->state = ec_fsm_slave_config_state_assign_ethercat;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   731
#else
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   734
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   738
    ec_fsm_slave_config_enter_sdo_conf(fsm);
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   739
#endif
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   740
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   741
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   742
/*****************************************************************************/
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   743
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   744
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   745
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   746
/** Slave configuration state: ASSIGN_ETHERCAT.
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   747
 */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   748
void ec_fsm_slave_config_state_assign_ethercat(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   749
        ec_fsm_slave_config_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   750
        )
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   751
{
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   752
    ec_datagram_t *datagram = fsm->datagram;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   753
    ec_slave_t *slave = fsm->slave;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   754
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   755
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   756
        return;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   757
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   758
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   759
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   760
        EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   761
        ec_datagram_print_state(datagram);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   762
        goto cont_sdo_conf;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   763
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   764
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   765
    if (datagram->working_counter != 1) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   766
        EC_SLAVE_WARN(slave, "Failed to assign SII back to EtherCAT: ");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   767
        ec_datagram_print_wc_error(datagram);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   768
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   769
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   770
cont_sdo_conf:
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   771
    if (slave->current_state == slave->requested_state) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   772
        fsm->state = ec_fsm_slave_config_state_end; // successful
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   773
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   774
        return;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   775
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   776
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   777
    ec_fsm_slave_config_enter_sdo_conf(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   778
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   779
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   780
#endif
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   781
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   782
/*****************************************************************************/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   783
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   784
/** Check for SDO configurations to be applied.
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   785
 */
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   786
void ec_fsm_slave_config_enter_sdo_conf(
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   787
        ec_fsm_slave_config_t *fsm /**< slave state machine */
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   788
        )
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   789
{
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   790
    ec_slave_t *slave = fsm->slave;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   791
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
    if (!slave->config) {
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   793
        ec_fsm_slave_config_enter_pdo_sync(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   794
        return;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   795
    }
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   796
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   797
    // No CoE configuration to be applied?
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   798
    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   799
        ec_fsm_slave_config_enter_soe_conf_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   800
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   802
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   803
    // start SDO configuration
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
    fsm->state = ec_fsm_slave_config_state_sdo_conf;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   805
    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   806
            ec_sdo_request_t, list);
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   807
    ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   808
    ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   809
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   810
    ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   812
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   813
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   814
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   815
/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   816
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   818
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
{
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   821
    if (ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram)) {
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   822
        return;
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   823
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   824
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   825
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   826
        EC_SLAVE_ERR(fsm->slave, "SDO configuration failed.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   827
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   828
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   829
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   830
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   832
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   833
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   834
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   835
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   836
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   837
    // Another SDO to configure?
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   838
    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   839
        fsm->request = list_entry(fsm->request->list.next,
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   840
                ec_sdo_request_t, list);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   841
        ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   842
        ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   843
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   844
        ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   845
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   848
    // All SDOs are now configured.
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   849
    ec_fsm_slave_config_enter_soe_conf_preop(fsm);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   850
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   851
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   852
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   853
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   854
/** Check for SoE configurations to be applied.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   855
 */
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   856
void ec_fsm_slave_config_enter_soe_conf_preop(
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   857
        ec_fsm_slave_config_t *fsm /**< slave state machine */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   858
        )
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   859
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   860
    ec_slave_t *slave = fsm->slave;
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   861
    ec_soe_request_t *req;
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   862
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   863
    if (!slave->config) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   864
        ec_fsm_slave_config_enter_pdo_sync(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   865
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   866
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   867
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   868
    list_for_each_entry(req, &slave->config->soe_configs, list) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   869
        if (req->al_state == EC_AL_STATE_PREOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   870
            // start SoE configuration
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   871
            fsm->state = ec_fsm_slave_config_state_soe_conf_preop;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   872
            fsm->soe_request = req;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   873
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   874
            ec_soe_request_write(&fsm->soe_request_copy);
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   875
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   876
                    &fsm->soe_request_copy);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   877
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   878
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   879
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   880
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   881
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   882
    // No SoE configuration to be applied in PREOP
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   883
    ec_fsm_slave_config_enter_pdo_conf(fsm);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   884
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   885
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   886
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   887
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   888
/** Slave configuration state: SOE_CONF.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   889
 */
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   890
void ec_fsm_slave_config_state_soe_conf_preop(
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   891
        ec_fsm_slave_config_t *fsm /**< slave state machine */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   892
        )
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   893
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   894
    ec_slave_t *slave = fsm->slave;
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   895
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   896
    if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   897
        return;
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   898
    }
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   899
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   900
    if (!ec_fsm_soe_success(fsm->fsm_soe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   901
        EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   902
        fsm->slave->error_flag = 1;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   903
        fsm->state = ec_fsm_slave_config_state_error;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   904
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   905
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   906
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   907
    if (!fsm->slave->config) { // config removed in the meantime
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   908
        ec_fsm_slave_config_reconfigure(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   909
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   910
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   911
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   912
    // Another IDN to configure in PREOP?
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   913
    while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   914
        fsm->soe_request = list_entry(fsm->soe_request->list.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   915
                ec_soe_request_t, list);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   916
        if (fsm->soe_request->al_state == EC_AL_STATE_PREOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   917
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   918
            ec_soe_request_write(&fsm->soe_request_copy);
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   919
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   920
                    &fsm->soe_request_copy);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   921
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   922
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   923
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   924
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   925
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   926
    // All PREOP IDNs are now configured.
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   927
    ec_fsm_slave_config_enter_pdo_conf(fsm);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   928
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   929
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   930
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   931
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   932
/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   933
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   934
void ec_fsm_slave_config_enter_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   935
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   936
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   937
{
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   938
    // Start configuring PDOs
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   939
    ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   940
    fsm->state = ec_fsm_slave_config_state_pdo_conf;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   941
    fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   942
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   943
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   944
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   945
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   946
/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   947
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   948
void ec_fsm_slave_config_state_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   949
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   950
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   951
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1491
diff changeset
   952
    // TODO check for config here
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   953
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   954
    if (ec_fsm_pdo_exec(fsm->fsm_pdo, fsm->datagram)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   955
        return;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
   956
    }
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   957
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   958
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   959
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   960
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   961
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   962
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   963
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   964
        EC_SLAVE_WARN(fsm->slave, "PDO configuration failed.\n");
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   965
    }
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   966
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   967
    ec_fsm_slave_config_enter_watchdog_divider(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   968
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   969
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   970
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   971
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   972
/** WATCHDOG_DIVIDER entry function.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   973
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   974
void ec_fsm_slave_config_enter_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   975
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   976
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   977
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   978
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   979
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   980
    ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   981
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   982
    if (config && config->watchdog_divider) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   983
        EC_SLAVE_DBG(slave, 1, "Setting watchdog divider to %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   984
                config->watchdog_divider);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   985
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   986
        ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   987
        EC_WRITE_U16(datagram->data, config->watchdog_divider);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   988
        fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   989
        fsm->state = ec_fsm_slave_config_state_watchdog_divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   990
    } else {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   991
        ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   992
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   993
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   994
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   995
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   996
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   997
/** Slave configuration state: WATCHDOG_DIVIDER.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   998
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   999
void ec_fsm_slave_config_state_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1000
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1001
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1002
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1003
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1004
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1005
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1006
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1007
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1008
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1009
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1010
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1011
        EC_SLAVE_ERR(slave, "Failed to receive watchdog divider"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1012
                " configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1013
        ec_datagram_print_state(datagram);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1014
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1015
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1016
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1017
    if (datagram->working_counter != 1) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1018
        slave->error_flag = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1019
        EC_SLAVE_WARN(slave, "Failed to set watchdog divider: ");
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1020
        ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1021
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1022
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1023
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1024
    ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1025
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1026
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1027
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1028
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1029
/** WATCHDOG entry function
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1030
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1031
void ec_fsm_slave_config_enter_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1032
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1033
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1034
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1035
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1036
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1037
    ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1038
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1039
    if (config && config->watchdog_intervals) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1040
        EC_SLAVE_DBG(slave, 1, "Setting process data"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1041
                " watchdog intervals to %u.\n", config->watchdog_intervals);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1042
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1043
        ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1044
        EC_WRITE_U16(datagram->data, config->watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1045
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1046
        fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1047
        fsm->state = ec_fsm_slave_config_state_watchdog;
1520
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1048
    } else {
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1049
        ec_fsm_slave_config_enter_pdo_sync(fsm);
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1050
    }
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1051
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1052
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1053
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1054
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1055
/** Slave configuration state: WATCHDOG.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1056
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1057
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1058
void ec_fsm_slave_config_state_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1059
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1060
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1061
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1062
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1063
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1064
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1065
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1066
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1067
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1068
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1069
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1070
        EC_SLAVE_ERR(slave, "Failed to receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1071
                " watchdog configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1072
        ec_datagram_print_state(datagram);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1073
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1074
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1075
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1076
    if (datagram->working_counter != 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1077
        EC_SLAVE_WARN(slave, "Failed to set process data"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1078
                " watchdog intervals: ");
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1079
        ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1080
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1081
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1082
    ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1083
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1084
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1085
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1086
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1087
/** Check for PDO sync managers to be configured.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1088
 */
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1089
void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1090
        ec_fsm_slave_config_t *fsm /**< slave state machine */
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1091
        )
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1092
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1093
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1094
    ec_datagram_t *datagram = fsm->datagram;
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1095
    unsigned int i, j, offset, num_pdo_syncs;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1096
    uint8_t sync_index;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1097
    const ec_sync_t *sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1098
    uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1099
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1100
    if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1101
        offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1102
    } else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1103
        offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1104
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1105
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1106
    if (slave->sii.sync_count <= offset) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1107
        // no PDO sync managers to configure
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
  1108
        ec_fsm_slave_config_enter_fmmu(fsm);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1109
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1110
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1111
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1112
    num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1113
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1114
    // configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1115
    ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1116
            0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1117
            EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
  1118
    ec_datagram_zero(datagram);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1119
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1120
    for (i = 0; i < num_pdo_syncs; i++) {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1121
        const ec_sync_config_t *sync_config;
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1122
        uint8_t pdo_xfer = 0;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1123
        sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1124
        sync = &slave->sii.syncs[sync_index];
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1125
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1126
        if (slave->config) {
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1127
            const ec_slave_config_t *sc = slave->config;
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1128
            sync_config = &sc->sync_configs[sync_index];
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1129
            size = ec_pdo_list_total_size(&sync_config->pdos);
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1130
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1131
            // determine, if PDOs shall be transferred via this SM
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1132
            // inthat case, enable sync manager in every case
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1133
            for (j = 0; j < sc->used_fmmus; j++) {
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1134
                if (sc->fmmu_configs[j].sync_index == sync_index) {
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1135
                    pdo_xfer = 1;
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1136
                    break;
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1137
                }
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1138
            }
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1139
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1140
        } else {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1141
            sync_config = NULL;
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1142
            size = sync->default_length;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1143
        }
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1144
2123
4c335a1d4db0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2104
diff changeset
  1145
        ec_sync_page(sync, sync_index, size, sync_config, pdo_xfer,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1146
                datagram->data + EC_SYNC_PAGE_SIZE * i);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1147
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1148
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1149
    fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1150
    fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1151
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1152
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1153
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1154
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1155
/** Configure PDO sync managers.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1156
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1157
void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1158
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1159
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1160
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1161
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1162
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1163
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1164
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1165
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1166
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1167
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1168
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1169
        EC_SLAVE_ERR(slave, "Failed to receive process data sync"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1170
                " manager configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1171
        ec_datagram_print_state(datagram);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1172
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1173
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1174
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1175
    if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1176
        slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1177
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1178
        EC_SLAVE_ERR(slave, "Failed to set process data sync managers: ");
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1179
        ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1180
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1181
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1182
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
    ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1184
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1186
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1187
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1188
/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1189
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1190
void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1191
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1192
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1193
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1196
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
    const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
    const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1199
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1200
    if (!slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1201
        ec_fsm_slave_config_enter_safeop(fsm);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1202
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1203
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1204
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1205
    if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1206
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1207
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1208
        EC_SLAVE_ERR(slave, "Slave has less FMMUs (%u)"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1209
                " than requested (%u).\n", slave->base_fmmu_count,
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1210
                slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1211
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1212
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1213
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1214
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1215
        ec_fsm_slave_config_enter_dc_cycle(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1216
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1217
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1218
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1219
    // configure FMMUs
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1220
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1221
                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
  1222
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1223
    for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1224
        fmmu = &slave->config->fmmu_configs[i];
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1225
        if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1226
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1227
            fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1228
            EC_SLAVE_ERR(slave, "Failed to determine PDO sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1229
                    " for FMMU!\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1230
            return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
        ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
                datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1235
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1237
    fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1238
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1239
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1240
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1242
/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1243
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1244
void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1245
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1246
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1247
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1248
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1249
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1250
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1251
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1252
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1253
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1254
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1255
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1256
        EC_SLAVE_ERR(slave, "Failed to receive FMMUs datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1257
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1258
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1260
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1261
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1262
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1263
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1264
        EC_SLAVE_ERR(slave, "Failed to set FMMUs: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1269
    ec_fsm_slave_config_enter_dc_cycle(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1270
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1271
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1272
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1273
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1274
/** Check for DC to be configured.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1275
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1276
void ec_fsm_slave_config_enter_dc_cycle(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1277
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1278
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1279
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1280
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1281
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1282
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1283
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1284
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1285
        ec_fsm_slave_config_reconfigure(fsm);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1286
        return;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1287
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1288
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1289
    if (config->dc_assign_activate) {
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
  1290
        if (!slave->base_dc_supported || !slave->has_dc_system_time) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1291
            EC_SLAVE_WARN(slave, "Slave seems not to support"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1292
                    " distributed clocks!\n");
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1293
        }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1294
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1295
        EC_SLAVE_DBG(slave, 1, "Setting DC cycle times to %u / %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1296
                config->dc_sync[0].cycle_time, config->dc_sync[1].cycle_time);
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1297
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1298
        // set DC cycle times
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1299
        ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1300
        EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1301
        EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1302
        fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1303
        fsm->state = ec_fsm_slave_config_state_dc_cycle;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1304
    } else {
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1305
        // DC are unused
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1306
        ec_fsm_slave_config_enter_safeop(fsm);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1307
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1308
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1309
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1310
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1311
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1312
/** Slave configuration state: DC CYCLE.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1313
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1314
void ec_fsm_slave_config_state_dc_cycle(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1315
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1316
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1317
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1318
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1319
    ec_slave_t *slave = fsm->slave;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1320
    ec_slave_config_t *config = slave->config;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1321
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1322
    if (!config) { // config removed in the meantime
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1323
        ec_fsm_slave_config_reconfigure(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1324
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1325
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1326
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1327
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1328
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1329
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1330
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1331
        fsm->state = ec_fsm_slave_config_state_error;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1332
        EC_SLAVE_ERR(slave, "Failed to receive DC cycle times datagram: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1333
        ec_datagram_print_state(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1334
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1335
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1336
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1337
    if (datagram->working_counter != 1) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1338
        slave->error_flag = 1;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1339
        fsm->state = ec_fsm_slave_config_state_error;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1340
        EC_SLAVE_ERR(slave, "Failed to set DC cycle times: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1341
        ec_datagram_print_wc_error(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1342
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1343
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1344
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1345
    EC_SLAVE_DBG(slave, 1, "Checking for synchrony.\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1346
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1347
    fsm->jiffies_start = jiffies;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1348
    ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1349
    fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1350
    fsm->state = ec_fsm_slave_config_state_dc_sync_check;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1351
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1352
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1353
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1354
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1355
/** Slave configuration state: DC SYNC CHECK.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1356
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1357
void ec_fsm_slave_config_state_dc_sync_check(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1358
        ec_fsm_slave_config_t *fsm /**< slave state machine */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1359
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1360
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1361
    ec_datagram_t *datagram = fsm->datagram;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1362
    ec_slave_t *slave = fsm->slave;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1363
    ec_master_t *master = slave->master;
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1364
    ec_slave_config_t *config = slave->config;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1365
    uint32_t abs_sync_diff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1366
    unsigned long diff_ms;
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1367
    ec_sync_signal_t *sync0 = &config->dc_sync[0];
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1368
    u64 start_time;
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1369
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1370
    if (!config) { // config removed in the meantime
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1371
        ec_fsm_slave_config_reconfigure(fsm);
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1372
        return;
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1373
    }
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1374
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1375
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1376
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1377
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1378
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1379
        fsm->state = ec_fsm_slave_config_state_error;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1380
        EC_SLAVE_ERR(slave, "Failed to receive DC sync check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1381
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1382
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1383
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1384
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1385
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1386
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1387
        fsm->state = ec_fsm_slave_config_state_error;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1388
        EC_SLAVE_ERR(slave, "Failed to check DC synchrony: ");
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1389
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1390
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1391
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1392
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1393
    abs_sync_diff = EC_READ_U32(datagram->data) & 0x7fffffff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1394
    diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1395
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1396
    if (abs_sync_diff > EC_DC_MAX_SYNC_DIFF_NS) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1397
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1398
        if (diff_ms >= EC_DC_SYNC_WAIT_MS) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1399
            EC_SLAVE_WARN(slave, "Slave did not sync after %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1400
                    diff_ms);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1401
        } else {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1402
            EC_SLAVE_DBG(slave, 1, "Sync after %4lu ms: %10u ns\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1403
                    diff_ms, abs_sync_diff);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1404
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1405
            // check synchrony again
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1406
            ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1407
            fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1408
            return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1409
        }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1410
    } else {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1411
        EC_SLAVE_DBG(slave, 1, "%u ns difference after %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1412
                abs_sync_diff, diff_ms);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1413
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1414
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1415
    // set DC start time
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1416
    start_time = master->app_time + EC_DC_START_OFFSET; // now + X ns
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1417
    // FIXME use slave's local system time here?
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1418
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1419
    if (sync0->cycle_time) {
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1420
        // find correct phase
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1421
        if (master->has_app_time) {
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1422
            u64 diff, start;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1423
            u32 remainder;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1424
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1425
            diff = start_time - master->app_start_time;
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1426
            remainder = do_div(diff, sync0->cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1427
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1428
            start = start_time +
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1429
                sync0->cycle_time - remainder + sync0->shift_time;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1430
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1431
            EC_SLAVE_DBG(slave, 1, "app_start_time=%llu\n",
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1432
                    master->app_start_time);
2104
330e2d43d3b4 Output app_time in DC debugging.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  1433
            EC_SLAVE_DBG(slave, 1, "      app_time=%llu\n", master->app_time);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1434
            EC_SLAVE_DBG(slave, 1, "    start_time=%llu\n", start_time);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1435
            EC_SLAVE_DBG(slave, 1, "    cycle_time=%u\n", sync0->cycle_time);
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2448
diff changeset
  1436
            EC_SLAVE_DBG(slave, 1, "    shift_time=%i\n", sync0->shift_time);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1437
            EC_SLAVE_DBG(slave, 1, "     remainder=%u\n", remainder);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1438
            EC_SLAVE_DBG(slave, 1, "         start=%llu\n", start);
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1439
            start_time = start;
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1440
        } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1441
            EC_SLAVE_WARN(slave, "No application time supplied."
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1442
                    " Cyclic start time will not be in phase.\n");
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1443
        }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1444
    }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1445
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1446
    EC_SLAVE_DBG(slave, 1, "Setting DC cyclic operation"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1447
            " start time to %llu.\n", start_time);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1448
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1449
    ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1450
    EC_WRITE_U64(datagram->data, start_time);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1451
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1452
    fsm->state = ec_fsm_slave_config_state_dc_start;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1453
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1454
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1455
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1456
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1457
/** Slave configuration state: DC START.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1458
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1459
void ec_fsm_slave_config_state_dc_start(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1460
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1461
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1462
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1463
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1464
    ec_slave_t *slave = fsm->slave;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1465
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1466
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1467
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1468
        ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1469
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1470
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1471
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1472
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1473
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1474
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1475
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1476
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1477
        EC_SLAVE_ERR(slave, "Failed to receive DC start time datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1478
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1479
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1480
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1481
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1482
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1483
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1484
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1485
        EC_SLAVE_ERR(slave, "Failed to set DC start time: ");
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1486
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1487
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1488
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1489
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1490
    EC_SLAVE_DBG(slave, 1, "Setting DC AssignActivate to 0x%04x.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1491
            config->dc_assign_activate);
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1492
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1493
    // assign sync unit to EtherCAT or PDI
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1494
    ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1495
    EC_WRITE_U16(datagram->data, config->dc_assign_activate);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1496
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1497
    fsm->state = ec_fsm_slave_config_state_dc_assign;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1498
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1499
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1500
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1501
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1502
/** Slave configuration state: DC ASSIGN.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1503
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1504
void ec_fsm_slave_config_state_dc_assign(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1505
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1506
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1507
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1508
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1509
    ec_slave_t *slave = fsm->slave;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1510
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1511
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1512
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1513
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1514
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1515
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1516
        EC_SLAVE_ERR(slave, "Failed to receive DC activation datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1517
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1518
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1519
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1520
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1521
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1522
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1523
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1524
        EC_SLAVE_ERR(slave, "Failed to activate DC: ");
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1525
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1526
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1527
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1528
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1529
    ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1530
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1531
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1532
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1533
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1534
/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1535
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1536
void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1537
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1538
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1539
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1540
    fsm->state = ec_fsm_slave_config_state_safeop;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1541
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1542
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1543
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1544
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1545
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1546
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1547
/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1548
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1549
void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1550
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1551
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1552
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1553
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1554
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1555
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1556
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1557
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1558
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1559
            fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1560
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1561
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1562
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1563
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1564
    // slave is now in SAFEOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1565
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1566
    EC_SLAVE_DBG(slave, 1, "Now in SAFEOP.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1567
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1568
    if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1569
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1570
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1571
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1572
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1573
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1574
    ec_fsm_slave_config_enter_soe_conf_safeop(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1575
}
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1576
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1577
/*****************************************************************************/
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1578
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1579
/** Check for SoE configurations to be applied in SAFEOP.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1580
 */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1581
void ec_fsm_slave_config_enter_soe_conf_safeop(
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1582
        ec_fsm_slave_config_t *fsm /**< slave state machine */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1583
        )
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1584
{
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1585
    ec_slave_t *slave = fsm->slave;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1586
    ec_soe_request_t *req;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1587
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1588
    if (!slave->config) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1589
        ec_fsm_slave_config_enter_op(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1590
        return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1591
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1592
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1593
    list_for_each_entry(req, &slave->config->soe_configs, list) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1594
        if (req->al_state == EC_AL_STATE_SAFEOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1595
            // start SoE configuration
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1596
            fsm->state = ec_fsm_slave_config_state_soe_conf_safeop;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1597
            fsm->soe_request = req;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1598
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1599
            ec_soe_request_write(&fsm->soe_request_copy);
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1600
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1601
                    &fsm->soe_request_copy);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1602
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1603
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1604
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1605
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1606
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1607
    // No SoE configuration to be applied in SAFEOP
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1608
    ec_fsm_slave_config_enter_op(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1609
}
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1610
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1611
/*****************************************************************************/
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1612
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1613
/** Slave configuration state: SOE_CONF.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1614
 */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1615
void ec_fsm_slave_config_state_soe_conf_safeop(
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1616
        ec_fsm_slave_config_t *fsm /**< slave state machine */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1617
        )
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1618
{
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1619
    ec_slave_t *slave = fsm->slave;
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1620
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1621
    if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1622
        return;
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1623
    }
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1624
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1625
    if (!ec_fsm_soe_success(fsm->fsm_soe)) {
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1626
        EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1627
        fsm->slave->error_flag = 1;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1628
        fsm->state = ec_fsm_slave_config_state_error;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1629
        return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1630
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1631
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1632
    if (!fsm->slave->config) { // config removed in the meantime
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1633
        ec_fsm_slave_config_reconfigure(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1634
        return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1635
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1636
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1637
    // Another IDN to configure in SAFEOP?
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1638
    while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1639
        fsm->soe_request = list_entry(fsm->soe_request->list.next,
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1640
                ec_soe_request_t, list);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1641
        if (fsm->soe_request->al_state == EC_AL_STATE_SAFEOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1642
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1643
            ec_soe_request_write(&fsm->soe_request_copy);
2482
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1644
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
06b53ebfa0c3 Do not use slaves's SoE state machine for configuration.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1645
                    &fsm->soe_request_copy);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2482
diff changeset
  1646
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1647
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1648
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1649
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1650
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1651
    // All SAFEOP IDNs are now configured.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1652
    ec_fsm_slave_config_enter_op(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1653
}
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1654
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1655
/*****************************************************************************/
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1656
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1657
/** Bring slave to OP.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1658
 */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1659
void ec_fsm_slave_config_enter_op(
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1660
        ec_fsm_slave_config_t *fsm /**< slave state machine */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1661
        )
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1662
{
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1663
    // set state to OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1664
    fsm->state = ec_fsm_slave_config_state_op;
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1665
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_OP);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1666
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1667
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1668
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1669
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1670
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1671
/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1672
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1673
void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1674
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1675
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1676
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1677
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1678
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1679
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1680
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1681
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1682
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1683
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1684
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1685
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1686
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1687
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1688
    // slave is now in OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1689
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1690
    EC_SLAVE_DBG(slave, 1, "Now in OP. Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1691
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1692
    fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1693
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1694
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1695
/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1696
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1697
/** Reconfigure the slave starting at INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1698
 */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1699
void ec_fsm_slave_config_reconfigure(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1700
        ec_fsm_slave_config_t *fsm /**< slave state machine */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1701
        )
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1702
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1703
    EC_SLAVE_DBG(fsm->slave, 1, "Slave configuration detached during "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1704
            "configuration. Reconfiguring.");
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1705
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1706
    ec_fsm_slave_config_enter_init(fsm); // reconfigure
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1707
}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1708
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1709
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1710
 *  Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1711
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1712
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1713
/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1714
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1715
void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1716
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1717
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1718
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1719
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1720
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1721
/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1722
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1723
/** State: END.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1724
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1725
void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1726
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1727
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1728
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1729
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1730
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1731
/*****************************************************************************/