master/fsm_slave_config.c
author Florian Pose <fp@igh-essen.com>
Thu, 09 Jul 2009 14:05:36 +0000
changeset 1492 c44308ec691b
parent 1491 40529f2f60bd
child 1507 68e89abadd19
permissions -rw-r--r--
Zero mailbox datagram before sending.
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    11
 *  published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    12
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    16
 *  Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    17
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1318
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1347
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1347
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1347
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1347
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1347
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
    30
/** \file
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
    31
 *
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
    32
 * EtherCAT slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
    33
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
    37
#include <asm/div64.h>
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
    38
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
#include "globals.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
#include "master.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#include "mailbox.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
#include "slave_config.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
#include "fsm_slave_config.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
    50
void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
    51
void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
    52
void ec_fsm_slave_config_state_dc_read_offset(ec_fsm_slave_config_t *);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
    53
void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    54
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    55
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    56
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
    57
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
    58
void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    59
void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
    60
void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
    61
void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
    62
void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    63
void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
    66
void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
    67
void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
    68
void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    69
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    70
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
    72
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
    73
void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
    75
void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
    81
void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
    82
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    85
/** Constructor.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
 */
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
    87
void ec_fsm_slave_config_init(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
    88
        ec_fsm_slave_config_t *fsm, /**< slave state machine */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
    89
        ec_datagram_t *datagram, /**< datagram structure to use */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
    90
        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
    91
        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    92
        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    93
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
{
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
    95
    ec_sdo_request_init(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
    96
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    97
    fsm->datagram = datagram;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
    98
    fsm->fsm_change = fsm_change;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
    99
    fsm->fsm_coe = fsm_coe;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   100
    fsm->fsm_pdo = fsm_pdo;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   101
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   102
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   103
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   105
/** Destructor.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   106
 */
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   107
void ec_fsm_slave_config_clear(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   108
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   109
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   110
{
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   111
    ec_sdo_request_clear(&fsm->request_copy);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   112
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   113
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   114
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   115
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   116
/** Start slave configuration state machine.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   117
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   118
void ec_fsm_slave_config_start(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   119
        ec_fsm_slave_config_t *fsm, /**< slave state machine */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   120
        ec_slave_t *slave /**< slave to configure */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   121
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   122
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   123
    fsm->slave = slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   124
    fsm->state = ec_fsm_slave_config_state_start;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   125
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   126
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   127
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   128
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   129
/**
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   130
 * \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   131
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   132
int ec_fsm_slave_config_running(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   133
        const ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   134
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   135
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   136
    return fsm->state != ec_fsm_slave_config_state_end
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   137
        && fsm->state != ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   138
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   139
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   140
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   141
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   142
/** Executes the current state of the state machine.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   143
 *
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   144
 * If the state machine's datagram is not sent or received yet, the execution
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   145
 * of the state machine is delayed to the next cycle.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   146
 *
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   147
 * \return false, if state machine has terminated
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   148
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   149
int ec_fsm_slave_config_exec(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   150
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   151
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   153
    if (fsm->datagram->state == EC_DATAGRAM_SENT
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   154
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   155
        // datagram was not sent or received yet.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   156
        return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   157
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   158
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   159
    fsm->state(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   160
    return ec_fsm_slave_config_running(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   161
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   165
/**
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   166
 * \return true, if the state machine terminated gracefully
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   167
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   168
int ec_fsm_slave_config_success(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   169
        const ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   170
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   171
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   172
    return fsm->state == ec_fsm_slave_config_state_end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   173
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   175
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
 * Slave configuration state machine
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   177
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   178
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   179
/** Slave configuration state: START.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   180
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   181
void ec_fsm_slave_config_state_start(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   182
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   183
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
    if (fsm->slave->master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   186
        EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   187
    }
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   188
    
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   189
    ec_fsm_slave_config_enter_init(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   190
}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   191
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   192
/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   193
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   194
/** Start state change to INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   195
 */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   196
void ec_fsm_slave_config_enter_init(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   197
        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
   198
        )
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   199
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   200
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   201
    ec_fsm_change_exec(fsm->fsm_change);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
    fsm->state = ec_fsm_slave_config_state_init;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   206
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   207
/** Slave configuration state: INIT.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   208
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   209
void ec_fsm_slave_config_state_init(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   210
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   211
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   215
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   216
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   217
    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
   218
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   219
    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
   220
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   224
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   227
        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   231
        ec_fsm_slave_config_enter_clear_sync(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   234
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
    if (master->debug_level)
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   236
        EC_DBG("Clearing FMMU configurations of slave %u...\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
    // clear FMMU configurations
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   240
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   241
            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
   242
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   243
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   244
    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   247
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   248
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   249
/** Slave configuration state: CLEAR FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   250
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   251
void ec_fsm_slave_config_state_clear_fmmus(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   252
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   253
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   254
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   255
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   256
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   257
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   258
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   259
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   260
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   261
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   262
        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   266
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   267
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   268
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   269
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   270
        EC_ERR("Failed to clear FMMUs of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   271
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   272
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   273
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   274
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   275
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   276
    ec_fsm_slave_config_enter_clear_sync(fsm);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   277
}
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   278
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   279
/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   280
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   281
/** Clear the sync manager configurations.
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   282
 */
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   283
void ec_fsm_slave_config_enter_clear_sync(
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   284
        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
   285
        )
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   286
{
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   287
    ec_slave_t *slave = fsm->slave;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   288
    ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   289
    size_t sync_size;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   290
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   291
    if (!slave->base_sync_count) {
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   292
        // no sync managers
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   293
        ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   294
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   295
    }
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   296
1344
e5756d4ed12c Debug message.
Florian Pose <fp@igh-essen.com>
parents: 1342
diff changeset
   297
    if (slave->master->debug_level)
e5756d4ed12c Debug message.
Florian Pose <fp@igh-essen.com>
parents: 1342
diff changeset
   298
        EC_DBG("Clearing sync manager configurations of slave %u...\n",
e5756d4ed12c Debug message.
Florian Pose <fp@igh-essen.com>
parents: 1342
diff changeset
   299
                slave->ring_position);
e5756d4ed12c Debug message.
Florian Pose <fp@igh-essen.com>
parents: 1342
diff changeset
   300
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   301
    sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   302
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   303
    // clear sync manager configurations
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   304
    ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   305
    memset(datagram->data, 0x00, sync_size);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   306
    fsm->retries = EC_FSM_RETRIES;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   307
    fsm->state = ec_fsm_slave_config_state_clear_sync;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   308
}
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   309
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   310
/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   311
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   312
/** Slave configuration state: CLEAR SYNC.
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   313
 */
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   314
void ec_fsm_slave_config_state_clear_sync(
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   315
        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
   316
        )
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   317
{
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   318
    ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   319
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   320
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   321
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   322
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   323
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   324
        fsm->state = ec_fsm_slave_config_state_error;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   325
        EC_ERR("Failed receive sync manager clearing datagram"
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   326
                " for slave %u.\n", fsm->slave->ring_position);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   327
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   328
    }
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   329
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   330
    if (datagram->working_counter != 1) {
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   331
        fsm->slave->error_flag = 1;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   332
        fsm->state = ec_fsm_slave_config_state_error;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   333
        EC_ERR("Failed to clear sync manager configurations of slave %u: ",
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   334
               fsm->slave->ring_position);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   335
        ec_datagram_print_wc_error(datagram);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   336
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   337
    }
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   338
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   339
    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
   340
}
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   341
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   342
/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   343
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   344
/** Clear the DC assignment.
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   345
 */
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   346
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
   347
        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
   348
        )
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   349
{
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   350
    ec_slave_t *slave = fsm->slave;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   351
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   352
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
   353
    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
   354
        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
   355
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   356
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   357
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   358
    if (slave->master->debug_level)
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   359
        EC_DBG("Clearing DC assignment of slave %u...\n",
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   360
                slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   361
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   362
    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
   363
    ec_datagram_zero(datagram);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   364
    fsm->retries = EC_FSM_RETRIES;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   365
    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
   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.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   369
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   370
/** Slave configuration state: CLEAR DC ASSIGN.
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
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_state_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_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   377
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   378
    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
   379
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   380
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   381
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   382
        fsm->state = ec_fsm_slave_config_state_error;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   383
        EC_ERR("Failed receive DC assignment clearing datagram"
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   384
                " for slave %u.\n", fsm->slave->ring_position);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   385
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   386
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   387
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   388
    if (fsm->slave->master->debug_level && datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   389
        // clearing the DC assignment does not succeed on simple slaves
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   390
        EC_DBG("Failed to clear DC assignment of slave %u: ",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   391
               fsm->slave->ring_position);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   392
        ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   393
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   394
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   395
    // read DC system time and system time offset
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   396
    ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0910, 24);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   397
    fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   398
    fsm->state = ec_fsm_slave_config_state_dc_read_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   399
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   400
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   401
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   402
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   403
/** Slave configuration state: DC READ OFFSET.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   404
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   405
void ec_fsm_slave_config_state_dc_read_offset(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   406
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   407
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   408
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   409
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   410
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   411
    u64 system_time, old_offset, new_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   412
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   413
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   414
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   415
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   416
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   417
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   418
        EC_ERR("Failed to receive DC times datagram for slave %u"
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   419
                " (datagram state %u).\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   420
                slave->ring_position, datagram->state);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   421
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   422
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   423
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   424
    if (datagram->working_counter != 1) {
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   425
        slave->error_flag = 1;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   426
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   427
        EC_ERR("Failed to get DC times of slave %u: ",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   428
                slave->ring_position);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   429
        ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   430
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   431
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   432
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   433
    system_time = EC_READ_U64(datagram->data);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   434
    old_offset = EC_READ_U64(datagram->data + 16);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   435
    new_offset = slave->master->app_time - system_time + old_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   436
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   437
    if (slave->master->debug_level)
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   438
        EC_DBG("Slave %u: DC system_time=%llu old_offset=%llu, "
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   439
                "app_time=%llu, new_offset=%llu\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   440
                slave->ring_position, system_time, old_offset,
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   441
                slave->master->app_time, new_offset);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   442
1430
97ab86a9b1d7 Set system time transmission delay during config.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   443
    // set DC system time offset and transmission delay
97ab86a9b1d7 Set system time transmission delay during config.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   444
    ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   445
    EC_WRITE_U64(datagram->data, new_offset);
1430
97ab86a9b1d7 Set system time transmission delay during config.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   446
	EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   447
    fsm->retries = EC_FSM_RETRIES;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   448
    fsm->state = ec_fsm_slave_config_state_dc_write_offset;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   449
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   450
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   451
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   452
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   453
/** Slave configuration state: DC WRITE OFFSET.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   454
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   455
void ec_fsm_slave_config_state_dc_write_offset(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   456
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   457
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   458
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   459
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   460
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   461
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   462
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   463
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   464
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   465
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   466
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   467
        EC_ERR("Failed to receive DC system time offset datagram for slave %u"
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   468
                " (datagram state %u).\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   469
                slave->ring_position, datagram->state);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   470
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   471
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   472
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   473
    if (datagram->working_counter != 1) {
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   474
        slave->error_flag = 1;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   475
        fsm->state = ec_fsm_slave_config_state_error;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   476
        EC_ERR("Failed to set DC system time offset of slave %u: ",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   477
                slave->ring_position);
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   478
        ec_datagram_print_wc_error(datagram);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   479
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   480
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   481
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
    ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   487
/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   488
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
    // slave is now in INIT
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   502
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   508
    if (!slave->sii.mailbox_protocols) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
        // no mailbox protocols supported
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
            EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
                    slave->ring_position);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   513
        ec_fsm_slave_config_enter_boot_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   518
        EC_DBG("Configuring mailbox sync managers of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
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
    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
   523
        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
   524
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   525
        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
   526
                EC_SYNC_PAGE_SIZE * 2);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   527
        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   528
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   529
        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
   530
        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
   531
        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
   532
        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
   533
        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
   534
                EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   535
                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
   536
        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
   537
            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
   538
        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
   539
            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
   540
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   541
        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
   542
        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
   543
        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
   544
        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
   545
        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
   546
                EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   547
                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
   548
        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
   549
            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
   550
        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
   551
            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
   552
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   553
    } 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
   554
        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
   555
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   556
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
        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
   559
            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
   560
                    slave->sii.syncs[i].default_length,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   561
                    EC_DIR_INVALID, // use default direction
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
        }
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
   564
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   565
        slave->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
   566
            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
   567
        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
   568
            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
   569
        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
   570
            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
   571
        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
   572
            slave->sii.syncs[1].default_length;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
    } else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
        ec_sync_t sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
            EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
                    " mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
                EC_SYNC_PAGE_SIZE * 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   583
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   585
        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
   586
        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
   587
        sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
        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
   589
        ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   590
                EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   591
                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
   592
        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
   593
            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
   594
        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
   595
            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
   596
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   597
        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
   598
        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
   599
        sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   600
        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
   601
        ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   602
                EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   603
                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
   604
        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
   605
            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
   606
        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
   607
            slave->sii.std_tx_mailbox_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   610
    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
   611
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
    fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   618
/** Slave configuration state: SYNC.
1345
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   619
 *
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   620
 * \todo Timeout for response.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   621
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   622
void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   623
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   624
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
        EC_ERR("Failed to receive sync manager configuration datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   635
               " slave %u (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   640
    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
   641
        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
   642
        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
   643
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   644
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   645
    /* 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
   646
     * 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
   647
     * 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
   648
     * 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
   649
     */
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   650
    if (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
   651
        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
   652
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   653
        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
   654
            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
   655
            fsm->state = ec_fsm_slave_config_state_error;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   656
            EC_ERR("Timeout while configuring mailbox sync managers of"
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   657
                    " slave %u.\n", slave->ring_position);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   658
            return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   659
        }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   660
        else if (slave->master->debug_level) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   661
            EC_DBG("Resending after %u ms...\n",
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   662
                    (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
   663
        }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   664
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   665
        // 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
   666
        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
   667
        return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   668
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   669
    else if (datagram->working_counter != 1) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   672
        EC_ERR("Failed to set sync managers of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
        return;
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
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   678
    ec_fsm_slave_config_enter_boot_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   683
/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   684
 */
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   685
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
   686
        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
   687
        )
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   688
{
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   689
    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
   690
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   691
    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   692
        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   693
    } else { // BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   694
        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   695
    }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   696
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   697
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   699
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   702
/** 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
   703
 */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   704
void ec_fsm_slave_config_state_boot_preop(
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   705
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   706
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   710
1174
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_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
   712
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   713
    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
   714
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   720
    // slave is now in BOOT or PREOP
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   721
    slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   722
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
    if (master->debug_level) {
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   724
        EC_DBG("Slave %u is now in %s.\n", slave->ring_position,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   725
                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
   726
                ? "PREOP" : "BOOT");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
        if (master->debug_level) {
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   732
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
        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);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   739
}
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   740
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   741
/*****************************************************************************/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   742
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   743
/** 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
   744
 */
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   745
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
   746
        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
   747
        )
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   748
{
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   749
    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
   750
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
    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
   752
        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
   753
        return;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   754
    }
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   755
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
    // 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
   757
    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   758
        ec_fsm_slave_config_enter_pdo_conf(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   762
    // start SDO configuration
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
    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
   764
    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
   765
            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
   766
    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
   767
    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
   768
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   769
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   774
/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   775
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   776
void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   780
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   781
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   782
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   783
        EC_ERR("SDO configuration failed for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
                fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   790
    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
   791
        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
   792
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   793
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   794
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   795
    // 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
   796
    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
   797
        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
   798
                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
   799
        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
   800
        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
   801
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   802
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   803
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   805
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   806
    // All SDOs are now configured.
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   807
    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
   808
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   809
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   810
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   811
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   812
/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   813
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   814
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
   815
        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
   816
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   817
{
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   818
    // Start configuring PDOs
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   819
    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
   820
    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
   821
    fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   822
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   823
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   824
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   825
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   826
/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   827
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   828
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
   829
        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
   830
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   831
{
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   832
	// TODO check for config here
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   833
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   834
    if (ec_fsm_pdo_exec(fsm->fsm_pdo))
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   835
        return;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   836
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   837
    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
   838
        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
   839
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   840
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   841
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   842
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   843
        EC_WARN("PDO configuration failed on slave %u.\n",
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   844
                fsm->slave->ring_position);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   845
    }
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   846
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   847
    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
   848
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   849
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   850
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   851
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   852
/** Check for PDO sync managers to be configured.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   853
 */
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   854
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
   855
        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
   856
        )
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   857
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   858
    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
   859
    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
   860
    unsigned int i, offset, num_pdo_syncs;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   861
    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
   862
    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
   863
    uint16_t size;
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   864
    ec_direction_t dir;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   865
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   866
    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
   867
        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
   868
    } else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   869
        offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   870
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   871
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   872
    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
   873
        // 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
   874
        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
   875
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   876
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   877
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   878
    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
   879
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   880
    // 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
   881
    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
   882
            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
   883
            EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   884
    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
   885
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   886
    for (i = 0; i < num_pdo_syncs; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   887
        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
   888
        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
   889
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   890
        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
   891
            const ec_sync_config_t *sync_config;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   892
            sync_config = &slave->config->sync_configs[sync_index];
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   893
            size = ec_pdo_list_total_size(&sync_config->pdos);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   894
            dir = sync_config->dir;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   895
        } else {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   896
            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
   897
            dir = EC_DIR_INVALID;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   898
        }
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   899
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   900
        ec_sync_page(sync, sync_index, size, dir, datagram->data +
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   901
                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
   902
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   903
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   904
    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
   905
    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
   906
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   907
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   908
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   909
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   910
/** Configure PDO sync managers.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   911
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   912
void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   913
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   914
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   915
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   916
    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
   917
    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
   918
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   919
    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
   920
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   921
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   922
    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
   923
        fsm->state = ec_fsm_slave_config_state_error;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   924
        EC_ERR("Failed to receive process data sync manager configuration"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   925
               " datagram for slave %u (datagram state %u).\n",
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   926
               slave->ring_position, datagram->state);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   927
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   928
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   929
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   930
    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
   931
        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
   932
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   933
        EC_ERR("Failed to set process data sync managers of slave %u: ",
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   934
                slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   935
        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
   936
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   937
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   938
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   939
    ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   940
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   941
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   942
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   943
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   944
/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   945
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   946
void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   947
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   948
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   949
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   950
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   951
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   952
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
    const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   954
    const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   955
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   956
    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
   957
        ec_fsm_slave_config_enter_safeop(fsm);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   958
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   959
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   960
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   961
    if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   963
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   964
        EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   965
                slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   966
                slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   967
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   968
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   969
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   970
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   971
        ec_fsm_slave_config_enter_dc_cycle(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   972
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   973
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   974
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   975
    // configure FMMUs
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   976
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   977
                     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
   978
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   979
    for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   980
        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
   981
        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
   982
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   983
            fsm->state = ec_fsm_slave_config_state_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   984
            EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   985
                    " %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   986
            return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   987
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   988
        ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   989
                datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   990
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   991
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   992
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   993
    fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   994
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   995
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   996
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   997
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   998
/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   999
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1000
void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1001
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1002
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1003
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1004
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1005
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1006
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1007
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1008
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1009
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1010
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1011
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1012
        EC_ERR("Failed to receive FMMUs datagram for slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1013
                " (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1014
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1015
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1016
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1017
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1018
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1019
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1020
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1021
        EC_ERR("Failed to set FMMUs of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1022
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1023
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1024
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1025
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1026
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1027
    ec_fsm_slave_config_enter_dc_cycle(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1028
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1029
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1030
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1031
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1032
/** Check for DC to be configured.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1033
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1034
void ec_fsm_slave_config_enter_dc_cycle(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1035
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1036
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1037
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1038
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1039
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1040
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1041
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1042
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1043
        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
  1044
        return;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1045
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1046
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1047
    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
  1048
        if (!slave->base_dc_supported || !slave->has_dc_system_time) {
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1049
            EC_WARN("Slave %u seems not to support distributed clocks!\n",
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1050
                    slave->ring_position);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1051
        }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1052
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1053
        if (slave->master->debug_level)
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1054
            EC_DBG("Slave %u: Setting DC cycle times to %u / %u.\n",
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1055
                    slave->ring_position,
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1056
                    config->dc_sync[0].cycle_time,
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1057
                    config->dc_sync[1].cycle_time);
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1058
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1059
        // set DC cycle times
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1060
        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
  1061
        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
  1062
        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
  1063
        fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1064
        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
  1065
    } else {
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1066
        // DC are unused
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1067
        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
  1068
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1069
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1070
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1071
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1072
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1073
/** Slave configuration state: DC CYCLE.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1074
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1075
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
  1076
        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
  1077
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1078
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1079
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1080
    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
  1081
    ec_master_t *master = slave->master;
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1082
    ec_slave_config_t *config = slave->config;
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
  1083
    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
  1084
    u64 start_time;
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1085
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1086
    if (!config) { // config removed in the meantime
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1087
        ec_fsm_slave_config_reconfigure(fsm);
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1088
        return;
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1089
    }
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1090
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1091
    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
  1092
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1093
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1094
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1095
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1096
        EC_ERR("Failed to receive DC cycle times datagram for slave %u"
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1097
                " (datagram state %u).\n",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1098
                slave->ring_position, datagram->state);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1099
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1100
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1101
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1102
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1103
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1104
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1105
        EC_ERR("Failed to set DC cycle times of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1106
                slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1107
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1108
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1109
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1110
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1111
    // set DC start time
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1112
    start_time = master->app_time + 100000000ULL; // now + X ns
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1113
    // 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
  1114
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
  1115
    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
  1116
        // find correct phase
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1117
        if (master->has_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
  1118
            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
  1119
            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
  1120
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1121
            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
  1122
            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
  1123
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
  1124
            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
  1125
                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
  1126
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1127
            if (master->debug_level) {
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1128
                EC_DBG("app_start_time=%llu\n", master->app_start_time);
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1129
                EC_DBG("    start_time=%llu\n", 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
  1130
                EC_DBG("    cycle_time=%u\n", 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
  1131
                EC_DBG("    shift_time=%u\n", 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
  1132
                EC_DBG("     remainder=%u\n", remainder);
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1133
                EC_DBG("         start=%llu\n", start);
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1134
            }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1135
            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
  1136
        } else {
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1137
            EC_WARN("No application time supplied. Cyclic start time will "
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1138
                    "not be in phase for slave %u.\n", slave->ring_position);
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1139
        }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1140
    }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1141
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1142
    if (master->debug_level)
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1143
        EC_DBG("Slave %u: Setting DC cyclic operation start time to %llu.\n",
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1144
                slave->ring_position, start_time);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1145
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1146
    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
  1147
    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
  1148
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1149
    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
  1150
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1151
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1152
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1153
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1154
/** Slave configuration state: DC START.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1155
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1156
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
  1157
        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
  1158
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1159
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1160
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1161
    ec_slave_t *slave = fsm->slave;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1162
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1163
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1164
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1165
        ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1166
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1167
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1168
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1169
    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
  1170
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1171
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1172
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1173
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1174
        EC_ERR("Failed to receive DC start time datagram for slave %u"
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1175
                " (datagram state %u).\n",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1176
                slave->ring_position, datagram->state);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1177
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1178
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1179
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1180
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1181
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1182
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1183
        EC_ERR("Failed to set DC start time of slave %u: ",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1184
                slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1185
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1186
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1187
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1188
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1189
    if (slave->master->debug_level)
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1190
        EC_DBG("Slave %u: Setting DC AssignActivate to 0x%04x.\n",
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1191
                slave->ring_position, config->dc_assign_activate);
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1192
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1193
    // 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
  1194
    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
  1195
    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
  1196
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1197
    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
  1198
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1199
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1200
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1201
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1202
/** Slave configuration state: DC ASSIGN.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1203
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1204
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
  1205
        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
  1206
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1207
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1208
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1209
    ec_slave_t *slave = fsm->slave;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1210
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1211
    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
  1212
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1213
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1214
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1215
        fsm->state = ec_fsm_slave_config_state_error;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1216
        EC_ERR("Failed to receive DC activation datagram for slave %u"
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1217
                " (datagram state %u).\n",
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1218
                slave->ring_position, datagram->state);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1219
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1220
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1221
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1222
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1223
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1224
        fsm->state = ec_fsm_slave_config_state_error;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1225
        EC_ERR("Failed to set DC cyclic operation state of slave %u: ",
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1226
                slave->ring_position);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1227
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1228
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1229
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1230
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
    ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
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
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1236
/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1237
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1238
void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1239
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1240
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1242
    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
  1243
    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
  1244
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1245
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1246
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
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1249
/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1250
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1251
void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1252
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1253
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1254
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1255
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1256
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1257
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1258
    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
  1259
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1260
    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
  1261
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1262
            fsm->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;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1264
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
    // slave is now in SAFEOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1269
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1270
        EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1271
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1272
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1273
    if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1274
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1275
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1276
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1277
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1278
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1279
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1280
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1281
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1282
    // set state to OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1283
    fsm->state = ec_fsm_slave_config_state_op;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1284
    ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1285
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1286
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1287
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1288
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1289
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1290
/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1291
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1292
void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1293
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1294
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1295
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1296
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1297
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1298
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1299
    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
  1300
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1301
    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
  1302
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1303
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1304
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1305
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1306
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1307
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1308
    // slave is now in OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1309
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1310
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1311
        EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
  1312
        EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1313
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1314
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1315
    fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1316
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1317
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1318
/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1319
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1320
/** 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
  1321
 */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1322
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
  1323
        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
  1324
        )
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1325
{
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1326
    if (fsm->slave->master->debug_level) {
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1327
        EC_DBG("Slave configuration for slave %u detached during "
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1328
                "configuration. Reconfiguring.", fsm->slave->ring_position);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1329
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1330
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1331
    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
  1332
}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1333
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1334
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1335
 *  Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1336
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1337
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1338
/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1339
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1340
void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1341
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1342
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1343
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1344
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1345
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1346
/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1347
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1348
/** State: END.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1349
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1350
void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1351
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1352
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1353
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1354
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1355
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1356
/*****************************************************************************/