master/fsm_master.c
author Florian Pose <fp@igh-essen.com>
Wed, 08 Aug 2007 10:49:43 +0000
changeset 686 ca85fe008581
parent 661 bc1de1362efb
child 713 ae41cadd25b6
permissions -rw-r--r--
Fixed bug in configure.ac.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT finite state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "ethernet.h"
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#include "fsm_master.h"
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/*****************************************************************************/
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void ec_fsm_master_state_start(ec_fsm_master_t *);
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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void ec_fsm_master_state_read_states(ec_fsm_master_t *);
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
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void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
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void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
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void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
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void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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void ec_fsm_master_state_end(ec_fsm_master_t *);
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void ec_fsm_master_state_error(ec_fsm_master_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
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        ec_master_t *master, /**< EtherCAT master */
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        ec_datagram_t *datagram /**< datagram object to use */
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        )
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{
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    fsm->master = master;
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    fsm->datagram = datagram;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->idle = 0;
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    fsm->slaves_responding = 0;
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    fsm->topology_change_pending = 0;
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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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    fsm->validate = 0;
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    fsm->tainted = 0;
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    // init sub-state-machines
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    ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram);
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    // clear sub-state machines
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    ec_fsm_slave_clear(&fsm->fsm_slave);
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   If the state machine's datagram is not sent or received yet, the execution
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   of the state machine is delayed to the next cycle.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_master_exec(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return ec_fsm_master_running(fsm);
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    }
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    fsm->state(fsm);
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    return ec_fsm_master_running(fsm);
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}
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/*****************************************************************************/
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/**
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_master_running(
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        const ec_fsm_master_t *fsm /**< master state machine */
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        )
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{
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    return fsm->state != ec_fsm_master_state_end
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        && fsm->state != ec_fsm_master_state_error;
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}
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/*****************************************************************************/
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/**
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 * \return true, if the state machine is in an idle phase
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 */
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int ec_fsm_master_idle(
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        const ec_fsm_master_t *fsm /**< master state machine */
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        )
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{
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    return fsm->idle;
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}
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238
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/******************************************************************************
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 *  master state machine
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 *****************************************************************************/
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/**
260
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   Master state: START.
238
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   Starts with getting slave count and slave states.
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*/
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void ec_fsm_master_state_start(ec_fsm_master_t *fsm)
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{
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    fsm->idle = 1;
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
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    fsm->state = ec_fsm_master_state_broadcast;
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}
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/*****************************************************************************/
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/**
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   Master state: BROADCAST.
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   Processes the broadcast read slave count and slaves states.
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*/
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    unsigned int i;
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    ec_slave_t *slave;
260
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    ec_master_t *master = fsm->master;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT)
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        return; // always retry
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    if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
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        fsm->slaves_responding = 0;
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        list_for_each_entry(slave, &master->slaves, list) {
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            ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
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        }
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        fsm->state = ec_fsm_master_state_error;
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        return;
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    }
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    // bus topology change?
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    if (datagram->working_counter != fsm->slaves_responding) {
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        fsm->topology_change_pending = 1;
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        fsm->slaves_responding = datagram->working_counter;
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262
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        EC_INFO("%i slave%s responding.\n",
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                fsm->slaves_responding,
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                fsm->slaves_responding == 1 ? "" : "s");
262
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325
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        if (master->mode == EC_MASTER_MODE_OPERATION) {
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            if (fsm->slaves_responding == master->slave_count) {
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                fsm->validate = 1; // start validation later
262
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   209
            }
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   210
            else {
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                EC_WARN("Invalid slave count. Bus in tainted state.\n");
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                fsm->tainted = 1;
262
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   213
            }
260
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   214
        }
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    }
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    // slave states changed?
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    if (EC_READ_U8(datagram->data) != fsm->slave_states) {
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7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
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        char states[EC_STATE_STRING_SIZE];
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        fsm->slave_states = EC_READ_U8(datagram->data);
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   221
        ec_state_string(fsm->slave_states, states);
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   222
        EC_INFO("Slave states: %s.\n", states);
260
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   223
    }
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   224
656
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    if (fsm->topology_change_pending) {
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   226
        down(&master->scan_sem);
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        if (!master->allow_scan) {
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            up(&master->scan_sem);
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   229
        }
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   230
        else {
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   231
            master->scan_state = EC_REQUEST_IN_PROGRESS;
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            up(&master->scan_sem);
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   234
            // topology change when scan is allowed:
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            // clear all slaves and scan the bus
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            fsm->topology_change_pending = 0;
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            fsm->tainted = 0;
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            fsm->idle = 0;
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   239
            fsm->scan_jiffies = jiffies;
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   240
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   241
            ec_master_eoe_stop(master);
661
bc1de1362efb Dynamic creation of EoE handlers.
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   242
            ec_master_clear_eoe_handlers(master);
656
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   243
            ec_master_destroy_slaves(master);
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   244
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   245
            master->slave_count = datagram->working_counter;
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   246
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   247
            if (!master->slave_count) {
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   248
                // no slaves present -> finish state machine.
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                master->scan_state = EC_REQUEST_COMPLETE;
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                wake_up_interruptible(&master->scan_queue);
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   251
                fsm->state = ec_fsm_master_state_end;
260
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   252
                return;
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   253
            }
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   254
656
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   255
            // init slaves
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   256
            for (i = 0; i < master->slave_count; i++) {
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   257
                if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
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   258
                                GFP_ATOMIC))) {
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   259
                    EC_ERR("Failed to allocate slave %i!\n", i);
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                    ec_master_destroy_slaves(master);
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   261
                    master->scan_state = EC_REQUEST_FAILURE;
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   262
                    wake_up_interruptible(&master->scan_queue);
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   263
                    fsm->state = ec_fsm_master_state_error;
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   264
                    return;
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   265
                }
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   266
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   267
                if (ec_slave_init(slave, master, i, i + 1)) {
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   268
                    // freeing of "slave" already done
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   269
                    ec_master_destroy_slaves(master);
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   270
                    master->scan_state = EC_REQUEST_FAILURE;
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   271
                    wake_up_interruptible(&master->scan_queue);
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                    fsm->state = ec_fsm_master_state_error;
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   273
                    return;
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   274
                }
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   275
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                list_add_tail(&slave->list, &master->slaves);
260
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   277
            }
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   278
656
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   279
            EC_INFO("Scanning bus.\n");
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   280
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   281
            // begin scanning of slaves
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            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
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   283
            fsm->state = ec_fsm_master_state_scan_slaves;
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   284
            ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
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   285
            ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
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   286
            return;
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   287
        }
260
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   288
    }
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   289
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   290
    // fetch state from each slave
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   291
    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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   292
    ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
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   293
    fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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   294
    fsm->state = ec_fsm_master_state_read_states;
304
558a6669da90 Better master state machines.
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   295
}
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   296
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   297
/*****************************************************************************/
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   298
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   299
/**
601
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 * Check for pending EEPROM write requests and process one.
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   301
 * \return non-zero, if an EEPROM write request is processed.
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   302
 */
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   303
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   304
int ec_fsm_master_action_process_eeprom(
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   305
        ec_fsm_master_t *fsm /**< master state machine */
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   306
        )
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   307
{
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   308
    ec_master_t *master = fsm->master;
604
74ceacf42710 Fixed possible race with next request pointer again.
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   309
    ec_eeprom_write_request_t *request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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   310
    ec_slave_t *slave;
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   311
604
74ceacf42710 Fixed possible race with next request pointer again.
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   312
    // search the first request to be processed
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   313
    while (1) {
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   314
        down(&master->eeprom_sem);
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   315
        if (list_empty(&master->eeprom_requests)) {
74ceacf42710 Fixed possible race with next request pointer again.
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diff changeset
   316
            up(&master->eeprom_sem);
74ceacf42710 Fixed possible race with next request pointer again.
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   317
            break;
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diff changeset
   318
        }
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   319
        // get first request
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   320
        request = list_entry(master->eeprom_requests.next,
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diff changeset
   321
                ec_eeprom_write_request_t, list);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   322
        list_del_init(&request->list); // dequeue
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
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diff changeset
   323
        request->state = EC_REQUEST_IN_PROGRESS;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   324
        up(&master->eeprom_sem);
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diff changeset
   325
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   326
        slave = request->slave;
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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diff changeset
   327
        if (slave->online_state == EC_SLAVE_OFFLINE || slave->error_flag) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   328
            EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   329
                    slave->ring_position);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
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diff changeset
   330
            request->state = EC_REQUEST_FAILURE;
605
96a894895999 Fixed signal issue in EEPROM writing code.
Florian Pose <fp@igh-essen.com>
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diff changeset
   331
            wake_up(&master->eeprom_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   332
            continue;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   333
        }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   334
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   335
        // found pending EEPROM write operation. execute it!
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   336
        if (master->debug_level)
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   337
            EC_DBG("Writing EEPROM data to slave %i...\n",
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   338
                    slave->ring_position);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
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diff changeset
   339
        fsm->eeprom_request = request;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   340
        fsm->eeprom_index = 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
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diff changeset
   341
        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
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diff changeset
   342
                request->words, EC_FSM_SII_NODE);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   343
        fsm->state = ec_fsm_master_state_write_eeprom;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
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diff changeset
   344
        fsm->state(fsm); // execute immediately
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   345
        return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   346
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   347
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   348
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   349
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   350
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   351
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   352
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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diff changeset
   353
/**
646
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   354
 * Check for pending SDO requests and process one.
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   355
 * \return non-zero, if an SDO request is processed.
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   356
 */
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   357
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   358
int ec_fsm_master_action_process_sdo(
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   359
        ec_fsm_master_t *fsm /**< master state machine */
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   360
        )
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   361
{
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   362
    ec_master_t *master = fsm->master;
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   363
    ec_sdo_request_t *request;
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   364
    ec_slave_t *slave;
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   365
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   366
    // search the first request to be processed
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   367
    while (1) {
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   368
        down(&master->sdo_sem);
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   369
        if (list_empty(&master->sdo_requests)) {
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   370
            up(&master->sdo_sem);
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   371
            break;
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   372
        }
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   373
        // get first request
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diff changeset
   374
        request =
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   375
            list_entry(master->sdo_requests.next, ec_sdo_request_t, list);
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   376
        list_del_init(&request->list); // dequeue
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
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diff changeset
   377
        request->state = EC_REQUEST_IN_PROGRESS;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
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diff changeset
   378
        up(&master->sdo_sem);
fbbd4e54e031 Implemented SDO reading with wait queues.
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parents: 645
diff changeset
   379
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   380
        slave = request->sdo->slave;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   381
        if (slave->current_state == EC_SLAVE_STATE_INIT ||
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   382
                slave->online_state == EC_SLAVE_OFFLINE ||
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   383
                slave->error_flag) {
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   384
            EC_ERR("Discarding SDO request, slave %i not ready.\n",
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   385
                    slave->ring_position);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   386
            request->state = EC_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   387
            wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   388
            continue;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   389
        }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   390
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   391
        // found pending SDO request. execute it!
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   392
        if (master->debug_level)
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   393
            EC_DBG("Processing SDO request for slave %i...\n",
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   394
                    slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   395
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   396
        // start uploading SDO
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   397
        fsm->idle = 0;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   398
        fsm->slave = slave;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   399
        fsm->sdo_request = request;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   400
        fsm->state = ec_fsm_master_state_sdo_request;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   401
        ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   402
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   403
        return 1;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   404
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   405
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   406
    return 0;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   407
}
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   408
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   409
/*****************************************************************************/
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   410
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   411
/**
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   412
 */
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   413
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   414
int ec_fsm_master_action_configure(
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   415
        ec_fsm_master_t *fsm /**< master state machine */
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   416
        )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   417
{
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   418
    ec_slave_t *slave;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   419
    ec_master_t *master = fsm->master;
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 402
diff changeset
   420
    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   421
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   422
    // check if any slaves are not in the state, they're supposed to be
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   423
    // FIXME do not check all slaves in every cycle...
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   424
    list_for_each_entry(slave, &master->slaves, list) {
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   425
        if (slave->error_flag
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   426
                || slave->online_state == EC_SLAVE_OFFLINE
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   427
                || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   428
                || (slave->current_state == slave->requested_state
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   429
                    && slave->self_configured)) continue;
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   430
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   431
        if (master->debug_level) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   432
            ec_state_string(slave->current_state, old_state);
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   433
            if (slave->current_state != slave->requested_state) {
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   434
                ec_state_string(slave->requested_state, new_state);
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   435
                EC_DBG("Changing state of slave %i (%s -> %s).\n",
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   436
                        slave->ring_position, old_state, new_state);
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   437
            }
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   438
            else if (!slave->self_configured) {
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   439
                EC_DBG("Reconfiguring slave %i (%s).\n",
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   440
                        slave->ring_position, old_state);
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   441
            }
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   442
        }
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   443
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   444
        fsm->idle = 0;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   445
        fsm->slave = slave;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   446
        fsm->state = ec_fsm_master_state_configure_slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   447
        ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   448
        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   449
        return 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   450
    }
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   451
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   452
    if (fsm->config_error)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   453
        master->config_state = EC_REQUEST_FAILURE;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   454
    else
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   455
        master->config_state = EC_REQUEST_COMPLETE;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   456
    wake_up_interruptible(&master->config_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   457
    return 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   458
}
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   459
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   460
/*****************************************************************************/
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   461
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   462
/**
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   463
   Master action: PROC_STATES.
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   464
   Processes the slave states.
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   465
*/
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   466
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   467
void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   468
                                         /**< master state machine */
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   469
                                         )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   470
{
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   471
    ec_master_t *master = fsm->master;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   472
    ec_slave_t *slave;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   473
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   474
    down(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   475
    if (!master->allow_config) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   476
        up(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   477
    }
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   478
    else {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   479
        master->config_state = EC_REQUEST_IN_PROGRESS;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   480
        fsm->config_error = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   481
        up(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   482
        
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   483
        // check for pending slave configurations
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   484
        if (ec_fsm_master_action_configure(fsm))
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   485
            return;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   486
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   487
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   488
    // Check for a pending SDO request
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   489
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   490
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   491
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   492
    if (master->mode == EC_MASTER_MODE_IDLE) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   493
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   494
        // check, if slaves have an SDO dictionary to read out.
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   495
        list_for_each_entry(slave, &master->slaves, list) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   496
            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   497
                || slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   498
                || slave->current_state == EC_SLAVE_STATE_INIT
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   499
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   500
                || slave->online_state == EC_SLAVE_OFFLINE
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   501
                || slave->error_flag) continue;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   502
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   503
            if (master->debug_level) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   504
                EC_DBG("Fetching SDO dictionary from slave %i.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   505
                       slave->ring_position);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   506
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   507
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   508
            slave->sdo_dictionary_fetched = 1;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   509
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   510
            // start fetching SDO dictionary
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   511
            fsm->idle = 0;
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   512
            fsm->slave = slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   513
            fsm->state = ec_fsm_master_state_sdodict;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   514
            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   515
            ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   516
            return;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   517
        }
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   518
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   519
        // check for pending EEPROM write operations.
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   520
        if (ec_fsm_master_action_process_eeprom(fsm))
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   521
            return; // EEPROM write request found
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   522
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   523
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   524
    fsm->state = ec_fsm_master_state_end;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   525
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   526
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   527
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   528
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   529
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   530
   Master action: Get state of next slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   531
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   532
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   533
void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   534
                                           /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   535
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   536
    ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   537
    ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   538
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   539
    // is there another slave to query?
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   540
    if (slave->list.next != &master->slaves) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   541
        // process next slave
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   542
        fsm->idle = 1;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   543
        fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   544
        ec_datagram_nprd(fsm->datagram, fsm->slave->station_address,
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   545
                         0x0130, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   546
        fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   547
        fsm->state = ec_fsm_master_state_read_states;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   548
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   549
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   550
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   551
    // all slave states read
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   552
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   553
    // check, if a bus validation has to be done
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   554
    if (fsm->validate) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   555
        fsm->validate = 0;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   556
        list_for_each_entry(slave, &master->slaves, list) {
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   557
            if (slave->online_state == EC_SLAVE_ONLINE) continue;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   558
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   559
            // At least one slave is offline. validate!
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   560
            EC_INFO("Validating bus.\n");
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   561
            fsm->idle = 0;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   562
            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   563
            fsm->state = ec_fsm_master_state_validate_vendor;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   564
            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   565
            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   566
            return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   567
        }
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   568
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   569
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   570
    ec_fsm_master_action_process_states(fsm);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   571
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   572
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   573
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   574
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   575
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   576
   Master state: READ STATES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   577
   Fetches the AL- and online state of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   578
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   579
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   580
void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   581
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   582
    ec_slave_t *slave = fsm->slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   583
    ec_datagram_t *datagram = fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   584
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   585
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   586
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   587
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   588
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   589
        EC_ERR("Failed to receive AL state datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   590
                " (datagram state %i)\n", slave->ring_position, datagram->state);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   591
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   593
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   594
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   595
    // did the slave not respond to its station address?
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   596
    if (datagram->working_counter != 1) {
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   597
        ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   598
        ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   599
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   600
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   601
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   602
    // slave responded
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   603
    ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   604
    ec_slave_set_online_state(slave, EC_SLAVE_ONLINE);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   605
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   606
    // check, if new slave state has to be acknowledged
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   607
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   608
        fsm->idle = 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   609
        fsm->state = ec_fsm_master_state_acknowledge;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   610
        ec_fsm_change_ack(&fsm->fsm_change, slave);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   611
        ec_fsm_change_exec(&fsm->fsm_change);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   612
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   613
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   614
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   615
    ec_fsm_master_action_next_slave_state(fsm);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   616
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   617
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   618
/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   619
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   620
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   621
   Master state: ACKNOWLEDGE
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   622
*/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   623
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   624
void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */)
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   625
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   626
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   627
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   628
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   629
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   630
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   631
        fsm->slave->error_flag = 1;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   632
        EC_ERR("Failed to acknowledge state change on slave %i.\n",
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   633
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   634
        fsm->state = ec_fsm_master_state_error;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   635
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   636
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   637
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   638
    ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   639
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   640
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   641
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   642
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   643
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   644
   Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   645
   Validates the vendor ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   646
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   647
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   648
void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *fsm /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   649
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   650
    ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   651
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   652
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   653
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   654
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   655
        fsm->slave->error_flag = 1;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   656
        EC_ERR("Failed to validate vendor ID of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   657
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   658
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   662
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   663
        EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   664
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   668
    // vendor ID is ok. check product code.
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   669
    fsm->state = ec_fsm_master_state_validate_product;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   670
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   671
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   672
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   673
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   674
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   675
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   676
/**
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   677
   Master action: ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   678
   Looks for slave, that have lost their configuration and writes
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   679
   their station address, so that they can be reconfigured later.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   680
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   681
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   682
void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machine */)
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   683
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   684
    ec_datagram_t *datagram = fsm->datagram;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   685
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   686
    while (fsm->slave->online_state == EC_SLAVE_ONLINE) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   687
        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   688
            fsm->state = ec_fsm_master_state_end;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
            return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   691
        // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   692
        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   693
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   694
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   695
    if (fsm->master->debug_level)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   696
        EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   697
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   698
    // write station address
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   699
    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   700
    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   701
    fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   702
    fsm->state = ec_fsm_master_state_rewrite_addresses;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   703
}
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   704
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   705
/*****************************************************************************/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   706
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   707
/**
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   708
   Master state: VALIDATE_PRODUCT.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   709
   Validates the product ID of a slave.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   710
*/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   711
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   712
void ec_fsm_master_state_validate_product(ec_fsm_master_t *fsm /**< master state machine */)
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   713
{
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   714
    ec_slave_t *slave = fsm->slave;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   715
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   716
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   717
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   718
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   719
        fsm->slave->error_flag = 1;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   720
        EC_ERR("Failed to validate product code of slave %i.\n",
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   721
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   722
        fsm->state = ec_fsm_master_state_error;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   723
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   724
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   725
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   726
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   727
        EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   728
        EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   729
               EC_READ_U32(fsm->fsm_sii.value));
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   730
        fsm->state = ec_fsm_master_state_error;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   731
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   732
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   733
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   734
    // have all states been validated?
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   735
    if (slave->list.next == &fsm->master->slaves) {
642
3ed80c8ed616 Correctted resetting topology_change_pending and tainted flags.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   736
        fsm->topology_change_pending = 0;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   737
        fsm->tainted = 0;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   738
        fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   739
        // start writing addresses to offline slaves
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   740
        ec_fsm_master_action_addresses(fsm);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   741
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   742
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   743
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   744
    // validate next slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   745
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   746
    fsm->state = ec_fsm_master_state_validate_vendor;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   747
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   748
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   749
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   750
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   751
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   752
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   753
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   754
   Master state: REWRITE ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   755
   Checks, if the new station address has been written to the slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   756
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   757
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   758
void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   759
                                     /**< master state machine */
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   760
                                     )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   761
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   762
    ec_slave_t *slave = fsm->slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   763
    ec_datagram_t *datagram = fsm->datagram;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   764
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   765
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   766
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   767
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   768
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   769
        EC_ERR("Failed to receive address datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   770
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   771
                slave->ring_position, datagram->state);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   772
        fsm->state = ec_fsm_master_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   773
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   774
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   775
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   776
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   777
        EC_ERR("Failed to write station address - slave %i did not respond.\n",
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   778
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   779
        fsm->state = ec_fsm_master_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   780
        return;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   781
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   782
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   783
    if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   784
        fsm->state = ec_fsm_master_state_end;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   785
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   786
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   787
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   788
    // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   789
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   790
    // Write new station address to slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   791
    ec_fsm_master_action_addresses(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   795
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   796
/**
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   797
 * Master state: SCAN SLAVES.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   798
 * Executes the sub-statemachine for the scanning of a slave.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   799
 */
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   800
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   801
void ec_fsm_master_state_scan_slaves(
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   802
        ec_fsm_master_t *fsm /**< master state machine */
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   803
        )
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   805
    ec_master_t *master = fsm->master;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   806
    ec_slave_t *slave = fsm->slave;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   807
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   808
    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   809
        return;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   810
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   811
    if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   812
        // create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   813
        ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   814
        if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   815
            EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   816
                    slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   817
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   818
        else if (ec_eoe_init(eoe, slave)) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   819
            EC_ERR("Failed to init EoE handler for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   820
                    slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   821
            kfree(eoe);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   822
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   823
        else {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   824
            list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   825
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   826
    }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   827
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   828
    // another slave to fetch?
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   829
    if (slave->list.next != &master->slaves) {
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   830
        fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
538
84beb49d1b11 Fixed bug that caused the last slave not to be scanned.
Florian Pose <fp@igh-essen.com>
parents: 530
diff changeset
   831
        ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   832
        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   833
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   834
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   835
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   836
    EC_INFO("Bus scanning completed in %u ms.\n",
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   837
            (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   838
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   839
    // check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   840
    ec_master_eoe_start(master);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   841
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   842
    master->scan_state = EC_REQUEST_COMPLETE;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   843
    wake_up_interruptible(&master->scan_queue);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   844
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   845
    fsm->state = ec_fsm_master_state_end;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   848
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   849
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   850
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   851
   Master state: CONFIGURE SLAVES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   852
   Starts configuring a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   853
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   854
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   855
void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   856
                                   /**< master state machine */
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   857
                                   )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   858
{
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   859
    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   860
        return;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   861
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   862
    if (!ec_fsm_slave_success(&fsm->fsm_slave))
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   863
        fsm->config_error = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   864
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   865
    // configure next slave, if necessary
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   866
    if (ec_fsm_master_action_configure(fsm))
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   867
        return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   868
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   869
    fsm->state = ec_fsm_master_state_end;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   870
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   871
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   872
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   873
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   874
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   875
   Master state: WRITE EEPROM.
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   876
*/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   877
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   878
void ec_fsm_master_state_write_eeprom(
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   879
        ec_fsm_master_t *fsm /**< master state machine */)
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   880
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   881
    ec_master_t *master = fsm->master;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   882
    ec_eeprom_write_request_t *request = fsm->eeprom_request;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   883
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   884
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   885
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   886
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   887
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   888
        slave->error_flag = 1;
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   889
        EC_ERR("Failed to write EEPROM data to slave %i.\n",
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   890
                slave->ring_position);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   891
        request->state = EC_REQUEST_FAILURE;
605
96a894895999 Fixed signal issue in EEPROM writing code.
Florian Pose <fp@igh-essen.com>
parents: 604
diff changeset
   892
        wake_up(&master->eeprom_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   893
        fsm->state = ec_fsm_master_state_error;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   894
        return;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   895
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   896
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   897
    fsm->eeprom_index++;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   898
    if (fsm->eeprom_index < request->size) {
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   899
        ec_fsm_sii_write(&fsm->fsm_sii, slave,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   900
                request->offset + fsm->eeprom_index,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   901
                request->words + fsm->eeprom_index,
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   902
                EC_FSM_SII_NODE);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   903
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   904
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   905
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   906
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   907
    // finished writing EEPROM
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   908
    if (master->debug_level)
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   909
        EC_DBG("Finished writing EEPROM data to slave %i.\n",
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   910
                slave->ring_position);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   911
    request->state = EC_REQUEST_COMPLETE;
605
96a894895999 Fixed signal issue in EEPROM writing code.
Florian Pose <fp@igh-essen.com>
parents: 604
diff changeset
   912
    wake_up(&master->eeprom_queue);
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   913
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   914
    // TODO: Evaluate new EEPROM contents!
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   915
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   916
    // check for another EEPROM write request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   917
    if (ec_fsm_master_action_process_eeprom(fsm))
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   918
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   919
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   920
    fsm->state = ec_fsm_master_state_end;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   921
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   922
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   923
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   924
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   925
/**
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   926
   Master state: SDODICT.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   927
*/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   928
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   929
void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */)
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   930
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   931
    ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   932
    ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   933
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   934
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   935
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   936
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   937
        fsm->state = ec_fsm_master_state_error;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   938
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   939
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   940
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   941
    // SDO dictionary fetching finished
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   942
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   943
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   944
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   945
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   946
        EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
   947
               sdo_count, entry_count, slave->ring_position);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   948
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   949
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   950
    fsm->state = ec_fsm_master_state_end;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   951
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   952
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   953
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   954
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   955
/**
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   956
   Master state: SDO REQUEST.
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   957
*/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   958
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   959
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   960
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   961
    ec_master_t *master = fsm->master;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   962
    ec_sdo_request_t *request = fsm->sdo_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   963
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   964
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   965
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   966
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   967
        EC_DBG("Failed to process SDO request for slave %i.\n",
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   968
                fsm->slave->ring_position);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   969
        request->state = EC_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   970
        wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   971
        fsm->state = ec_fsm_master_state_error;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   972
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   973
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   974
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   975
    // SDO request finished 
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   976
    request->state = EC_REQUEST_COMPLETE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   977
    wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   978
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   979
    if (master->debug_level)
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   980
        EC_DBG("Finished SDO request for slave %i.\n",
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   981
                fsm->slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   982
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   983
    // check for another SDO request
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   984
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   985
        return; // processing another request
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   986
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   987
    fsm->state = ec_fsm_master_state_end;
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   988
}
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
   989
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   990
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   991
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   992
/**
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   993
   State: ERROR.
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   994
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   995
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   996
void ec_fsm_master_state_error(
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   997
        ec_fsm_master_t *fsm /**< master state machine */
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   998
        )
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   999
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1000
    fsm->state = ec_fsm_master_state_start;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1001
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1002
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1003
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1004
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1005
/**
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1006
   State: END.
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1007
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1008
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1009
void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */)
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1010
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1011
    fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1012
}
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1013
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1014
/*****************************************************************************/
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1015