master/fsm_slave_scan.c
author Florian Pose <fp@gh.de>
Fri, 03 Mar 2017 13:55:01 +0100
branchstable-1.5
changeset 2668 dd32f74ee76e
parent 2510 1e8d9fcb5100
permissions -rw-r--r--
Merged CRC command.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave 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 "slave_config.h"
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#include "fsm_slave_scan.h"
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/*****************************************************************************/
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_state(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_dc_cap(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
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#ifdef EC_SII_ASSIGN
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void ec_fsm_slave_scan_state_assign_sii(ec_fsm_slave_scan_t *);
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#endif
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void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
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#ifdef EC_REGALIAS
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void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
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#endif
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void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
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#ifdef EC_REGALIAS
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void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
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#endif
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void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
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void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_scan_init(
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        ec_fsm_slave_scan_t *fsm, /**< Slave scanning state machine. */
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        ec_datagram_t *datagram, /**< Datagram to use. */
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        ec_fsm_slave_config_t *fsm_slave_config, /**< Slave configuration
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                                                  state machine to use. */
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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration machine to use. */
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        )
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{
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    fsm->datagram = datagram;
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    fsm->fsm_slave_config = fsm_slave_config;
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    fsm->fsm_pdo = fsm_pdo;
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    // init sub state machines
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    // clear sub state machines
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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}
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/*****************************************************************************/
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/**
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 * Start slave scan state machine.
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 */
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void ec_fsm_slave_scan_start(
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        ec_fsm_slave_scan_t *fsm, /**< slave state machine */
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_slave_scan_state_start;
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}
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/*****************************************************************************/
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/**
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   \return false, if state machine has terminated
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*/
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int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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{
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    return fsm->state != ec_fsm_slave_scan_state_end
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        && fsm->state != ec_fsm_slave_scan_state_error;
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}
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/*****************************************************************************/
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   133
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   134
/**
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   135
   Executes the current state of the state machine.
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   136
   If the state machine's datagram is not sent or received yet, the execution
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   137
   of the state machine is delayed to the next cycle.
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   138
   \return false, if state machine has terminated
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   139
*/
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   140
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int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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   142
{
d83d92e1a919 Separated slave state machines.
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parents:
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   143
    if (fsm->datagram->state == EC_DATAGRAM_SENT
d83d92e1a919 Separated slave state machines.
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parents:
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   144
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   145
        // datagram was not sent or received yet.
d83d92e1a919 Separated slave state machines.
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   146
        return ec_fsm_slave_scan_running(fsm);
d83d92e1a919 Separated slave state machines.
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   147
    }
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   148
d83d92e1a919 Separated slave state machines.
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   149
    fsm->state(fsm);
d83d92e1a919 Separated slave state machines.
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   150
    return ec_fsm_slave_scan_running(fsm);
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   151
}
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   152
d83d92e1a919 Separated slave state machines.
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/*****************************************************************************/
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   154
d83d92e1a919 Separated slave state machines.
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   155
/**
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   156
   \return true, if the state machine terminated gracefully
d83d92e1a919 Separated slave state machines.
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   157
*/
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   158
d83d92e1a919 Separated slave state machines.
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   159
int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
d83d92e1a919 Separated slave state machines.
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   160
{
d83d92e1a919 Separated slave state machines.
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   161
    return fsm->state == ec_fsm_slave_scan_state_end;
d83d92e1a919 Separated slave state machines.
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   162
}
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   163
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   164
/******************************************************************************
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   165
 *  slave scan state machine
d83d92e1a919 Separated slave state machines.
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   166
 *****************************************************************************/
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   167
d83d92e1a919 Separated slave state machines.
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   168
/**
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   169
   Slave scan state: START.
d83d92e1a919 Separated slave state machines.
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   First state of the slave state machine. Writes the station address to the
d83d92e1a919 Separated slave state machines.
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   171
   slave, according to its ring position.
d83d92e1a919 Separated slave state machines.
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   172
*/
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   173
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   174
void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
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   175
{
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   176
    // write station address
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   177
    ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
d83d92e1a919 Separated slave state machines.
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parents:
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   178
    EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
d83d92e1a919 Separated slave state machines.
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parents:
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   179
    fsm->retries = EC_FSM_RETRIES;
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   180
    fsm->state = ec_fsm_slave_scan_state_address;
d83d92e1a919 Separated slave state machines.
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   181
}
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   182
d83d92e1a919 Separated slave state machines.
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   183
/*****************************************************************************/
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   184
d83d92e1a919 Separated slave state machines.
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   185
/**
d83d92e1a919 Separated slave state machines.
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   186
   Slave scan state: ADDRESS.
d83d92e1a919 Separated slave state machines.
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   187
*/
d83d92e1a919 Separated slave state machines.
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parents:
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   188
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   189
void ec_fsm_slave_scan_state_address(
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   190
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   191
        )
830
d83d92e1a919 Separated slave state machines.
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parents:
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   192
{
d83d92e1a919 Separated slave state machines.
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parents:
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   193
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   194
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   195
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   197
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   198
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   199
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   200
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   201
                "Failed to receive station address datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   202
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   203
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   204
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   205
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   206
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   207
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   208
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   209
        EC_SLAVE_ERR(fsm->slave, "Failed to write station address: ");
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   210
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   211
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   212
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   213
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
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   214
    // Read AL state
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   215
    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   216
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   217
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   218
    fsm->state = ec_fsm_slave_scan_state_state;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   219
}
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   220
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   222
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
/**
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   224
   Slave scan state: STATE.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
*/
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   226
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
void ec_fsm_slave_scan_state_state(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   234
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   239
        EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   240
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   241
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   242
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   243
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   244
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   247
        EC_SLAVE_ERR(slave, "Failed to read AL state: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   248
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   249
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   250
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   251
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   252
    slave->current_state = EC_READ_U8(datagram->data);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   253
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   254
        char state_str[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   255
        ec_state_string(slave->current_state, state_str, 0);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   256
        EC_SLAVE_WARN(slave, "Slave has state error bit set (%s)!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   257
                state_str);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   258
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   259
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   260
    // read base data
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   261
    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 12);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   262
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
    fsm->state = ec_fsm_slave_scan_state_base;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   266
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   267
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   268
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   269
/** Slave scan state: BASE.
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   270
 */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   271
void ec_fsm_slave_scan_state_base(
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   272
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
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diff changeset
   273
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   274
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   275
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   276
    ec_slave_t *slave = fsm->slave;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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parents: 1363
diff changeset
   277
    u8 octet;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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diff changeset
   278
    int i;
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   279
d83d92e1a919 Separated slave state machines.
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parents:
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   280
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   281
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   282
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   284
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1909
diff changeset
   285
        EC_SLAVE_ERR(slave, "Failed to receive base data datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   286
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   293
        EC_SLAVE_ERR(slave, "Failed to read base data: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   297
d83d92e1a919 Separated slave state machines.
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parents:
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   298
    slave->base_type       = EC_READ_U8 (datagram->data);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   299
    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   300
    slave->base_build      = EC_READ_U16(datagram->data + 2);
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   301
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   302
    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
    if (slave->base_fmmu_count > EC_MAX_FMMUS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   304
        EC_SLAVE_WARN(slave, "Slave has more FMMUs (%u) than the master can"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   305
                " handle (%u).\n", slave->base_fmmu_count, EC_MAX_FMMUS);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
        slave->base_fmmu_count = EC_MAX_FMMUS;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
1470
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
   309
    slave->base_sync_count = EC_READ_U8(datagram->data + 5);
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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parents: 1363
diff changeset
   310
    if (slave->base_sync_count > EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   311
        EC_SLAVE_WARN(slave, "Slave provides more sync managers (%u)"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   312
                " than the master can handle (%u).\n",
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   313
                slave->base_sync_count, EC_MAX_SYNC_MANAGERS);
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   314
        slave->base_sync_count = EC_MAX_SYNC_MANAGERS;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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parents: 1363
diff changeset
   315
    }
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   316
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   317
    octet = EC_READ_U8(datagram->data + 7);
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   318
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1420
diff changeset
   319
        slave->ports[i].desc = (octet >> (2 * i)) & 0x03;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   320
    }
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   321
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   322
    octet = EC_READ_U8(datagram->data + 8);
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   323
    slave->base_fmmu_bit_operation = octet & 0x01;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   324
    slave->base_dc_supported = (octet >> 2) & 0x01;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   325
    slave->base_dc_range = ((octet >> 3) & 0x01) ? EC_DC_64 : EC_DC_32;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   326
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   327
    if (slave->base_dc_supported) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   328
        // read DC capabilities
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   329
        ec_datagram_fprd(datagram, slave->station_address, 0x0910,
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   330
                slave->base_dc_range == EC_DC_64 ? 8 : 4);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   331
        ec_datagram_zero(datagram);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   332
        fsm->retries = EC_FSM_RETRIES;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   333
        fsm->state = ec_fsm_slave_scan_state_dc_cap;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   334
    } else {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   335
        ec_fsm_slave_scan_enter_datalink(fsm);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   336
    }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   337
}
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   338
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   339
/*****************************************************************************/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   340
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   341
/**
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   342
   Slave scan state: DC CAPABILITIES.
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   343
*/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   344
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   345
void ec_fsm_slave_scan_state_dc_cap(
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   346
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   347
        )
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   348
{
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   349
    ec_datagram_t *datagram = fsm->datagram;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   350
    ec_slave_t *slave = fsm->slave;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   351
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   352
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   353
        return;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   354
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   355
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   356
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   357
        EC_SLAVE_ERR(slave, "Failed to receive system time datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   358
        ec_datagram_print_state(datagram);
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   359
        return;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   360
    }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   361
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   362
    if (datagram->working_counter == 1) {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   363
        slave->has_dc_system_time = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   364
        EC_SLAVE_DBG(slave, 1, "Slave has the System Time register.\n");
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   365
    } else if (datagram->working_counter == 0) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   366
        EC_SLAVE_DBG(slave, 1, "Slave has no System Time register; delay "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   367
                "measurement only.\n");
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   368
    } else {
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   369
        fsm->slave->error_flag = 1;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   370
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   371
        EC_SLAVE_ERR(slave, "Failed to determine, if system time register is "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   372
                "supported: ");
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   373
        ec_datagram_print_wc_error(datagram);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   374
        return;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   375
    }
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   376
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   377
    // read DC port receive times
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   378
    ec_datagram_fprd(datagram, slave->station_address, 0x0900, 16);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   379
    ec_datagram_zero(datagram);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   380
    fsm->retries = EC_FSM_RETRIES;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   381
    fsm->state = ec_fsm_slave_scan_state_dc_times;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   382
}
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   383
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   384
/*****************************************************************************/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   385
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   386
/**
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   387
   Slave scan state: DC TIMES.
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   388
*/
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   389
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   390
void ec_fsm_slave_scan_state_dc_times(
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   391
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   392
        )
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   393
{
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   394
    ec_datagram_t *datagram = fsm->datagram;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   395
    ec_slave_t *slave = fsm->slave;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   396
    int i;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   397
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   398
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   399
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   400
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   401
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   402
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   403
        EC_SLAVE_ERR(slave, "Failed to receive system time datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   404
        ec_datagram_print_state(datagram);
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   405
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   406
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   407
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   408
    if (datagram->working_counter != 1) {
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   409
        fsm->slave->error_flag = 1;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   410
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   411
        EC_SLAVE_ERR(slave, "Failed to get DC receive times: ");
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   412
        ec_datagram_print_wc_error(datagram);
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   413
        return;
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   414
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   415
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   416
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1420
diff changeset
   417
        slave->ports[i].receive_time = EC_READ_U32(datagram->data + 4 * i);
1420
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   418
    }
5eb814732c46 Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
   419
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   420
    ec_fsm_slave_scan_enter_datalink(fsm);
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   421
}
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   422
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   423
/*****************************************************************************/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   424
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   425
/**
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   426
   Slave scan entry function: DATALINK.
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   427
*/
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   428
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   429
void ec_fsm_slave_scan_enter_datalink(
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   430
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   431
        )
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   432
{
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   433
    ec_datagram_t *datagram = fsm->datagram;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   434
    ec_slave_t *slave = fsm->slave;
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   435
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
    // read data link status
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
    ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   438
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
    fsm->state = ec_fsm_slave_scan_state_datalink;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   445
/** Enter slave scan state SII_SIZE.
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   446
 */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   447
void ec_fsm_slave_scan_enter_sii_size(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   448
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   449
        )
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   450
{
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   451
    // Start fetching SII size
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   452
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   453
    fsm->sii_offset = EC_FIRST_SII_CATEGORY_OFFSET; // first category header
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   454
    ec_fsm_sii_read(&fsm->fsm_sii, fsm->slave, fsm->sii_offset,
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   455
            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   456
    fsm->state = ec_fsm_slave_scan_state_sii_size;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   457
    fsm->state(fsm); // execute state immediately
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   458
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   459
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   460
/*****************************************************************************/
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   461
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   462
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   463
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   464
/** Enter slave scan state ASSIGN_SII.
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   465
 */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   466
void ec_fsm_slave_scan_enter_assign_sii(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   467
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   468
        )
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   469
{
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   470
    ec_datagram_t *datagram = fsm->datagram;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   471
    ec_slave_t *slave = fsm->slave;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   472
2510
1e8d9fcb5100 Debug message.
Florian Pose <fp@igh-essen.com>
parents: 2508
diff changeset
   473
    EC_SLAVE_DBG(slave, 1, "Assigning SII access to EtherCAT.\n");
1e8d9fcb5100 Debug message.
Florian Pose <fp@igh-essen.com>
parents: 2508
diff changeset
   474
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   475
    // assign SII to ECAT
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   476
    ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 1);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   477
    EC_WRITE_U8(datagram->data, 0x00); // EtherCAT
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   478
    fsm->retries = EC_FSM_RETRIES;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   479
    fsm->state = ec_fsm_slave_scan_state_assign_sii;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   480
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   481
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   482
#endif
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   483
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   484
/*****************************************************************************/
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   485
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
/**
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
   Slave scan state: DATALINK.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
*/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   490
void ec_fsm_slave_scan_state_datalink(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   491
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   492
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
    uint16_t dl_status;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   504
        EC_SLAVE_ERR(slave, "Failed to receive DL status datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   505
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   512
        EC_SLAVE_ERR(slave, "Failed to read DL status: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
    dl_status = EC_READ_U16(datagram->data);
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   518
    for (i = 0; i < EC_MAX_PORTS; i++) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   519
        slave->ports[i].link.link_up =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   520
            dl_status & (1 << (4 + i)) ? 1 : 0;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   521
        slave->ports[i].link.loop_closed =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   522
            dl_status & (1 << (8 + i * 2)) ? 1 : 0;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   523
        slave->ports[i].link.signal_detected =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   524
            dl_status & (1 << (9 + i * 2)) ? 1 : 0;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   527
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   528
    ec_fsm_slave_scan_enter_assign_sii(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   529
#else
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   530
    ec_fsm_slave_scan_enter_sii_size(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   531
#endif
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   532
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   533
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   534
/*****************************************************************************/
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   535
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   536
#ifdef EC_SII_ASSIGN
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   537
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   538
/**
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   539
   Slave scan state: ASSIGN_SII.
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   540
*/
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   541
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   542
void ec_fsm_slave_scan_state_assign_sii(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   543
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   544
        )
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   545
{
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   546
    ec_datagram_t *datagram = fsm->datagram;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   547
    ec_slave_t *slave = fsm->slave;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   548
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   549
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   550
        return;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   551
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   552
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   553
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   554
        EC_SLAVE_WARN(slave, "Failed to receive SII assignment datagram: ");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   555
        ec_datagram_print_state(datagram);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   556
        // Try to go on, probably assignment is correct
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   557
        goto continue_with_sii_size;
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   558
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   559
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   560
    if (datagram->working_counter != 1) {
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   561
        EC_SLAVE_WARN(slave, "Failed to assign SII to EtherCAT: ");
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   562
        ec_datagram_print_wc_error(datagram);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   563
        // Try to go on, probably assignment is correct
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   564
    }
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   565
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   566
continue_with_sii_size:
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   567
    ec_fsm_slave_scan_enter_sii_size(fsm);
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   568
}
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   569
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   570
#endif
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   575
   Slave scan state: SII SIZE.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   576
*/
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   577
2508
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   578
void ec_fsm_slave_scan_state_sii_size(
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   579
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
6b21b3f88a9a Introduced --enable-sii-assign.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
   580
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
    uint16_t cat_type, cat_size;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
1951
a1a6d7719f97 Improved SII debugging.
Florian Pose <fp@igh-essen.com>
parents: 1934
diff changeset
   585
    if (ec_fsm_sii_exec(&fsm->fsm_sii))
a1a6d7719f97 Improved SII debugging.
Florian Pose <fp@igh-essen.com>
parents: 1934
diff changeset
   586
        return;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
        fsm->state = ec_fsm_slave_scan_state_error;
1951
a1a6d7719f97 Improved SII debugging.
Florian Pose <fp@igh-essen.com>
parents: 1934
diff changeset
   591
        EC_SLAVE_ERR(slave, "Failed to determine SII content size:"
1958
7dceb43bd855 Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents: 1951
diff changeset
   592
                " Reading word offset 0x%04x failed. Assuming %u words.\n",
7dceb43bd855 Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents: 1951
diff changeset
   593
                fsm->sii_offset, EC_FIRST_SII_CATEGORY_OFFSET);
7dceb43bd855 Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents: 1951
diff changeset
   594
        slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
7dceb43bd855 Read at least 64 words, when SII size determination failed.
Florian Pose <fp@igh-essen.com>
parents: 1951
diff changeset
   595
        goto alloc_sii;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   596
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   597
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
    cat_type = EC_READ_U16(fsm->fsm_sii.value);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   599
    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   600
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   601
    if (cat_type != 0xFFFF) { // not the last category
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
        off_t next_offset = 2UL + fsm->sii_offset + cat_size;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   603
        if (next_offset >= EC_MAX_SII_SIZE) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   604
            EC_SLAVE_WARN(slave, "SII size exceeds %u words"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   605
                    " (0xffff limiter missing?).\n", EC_MAX_SII_SIZE);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   606
            // cut off category data...
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   607
            slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   608
            goto alloc_sii;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
        fsm->sii_offset = next_offset;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   617
    slave->sii_nwords = fsm->sii_offset + 1;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   618
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   619
alloc_sii:
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   620
    if (slave->sii_words) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   621
        EC_SLAVE_WARN(slave, "Freeing old SII data...\n");
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   622
        kfree(slave->sii_words);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   623
    }
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   624
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   625
    if (!(slave->sii_words =
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   626
                (uint16_t *) kmalloc(slave->sii_nwords * 2, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   627
        EC_SLAVE_ERR(slave, "Failed to allocate %zu words of SII data.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   628
               slave->sii_nwords);
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   629
        slave->sii_nwords = 0;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
        fsm->state = ec_fsm_slave_scan_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   635
    // Start fetching SII contents
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   636
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   637
    fsm->state = ec_fsm_slave_scan_state_sii_data;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
    fsm->sii_offset = 0x0000;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   647
   Slave scan state: SII DATA.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   648
*/
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   649
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   650
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
    ec_slave_t *slave = fsm->slave;
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   653
    uint16_t *cat_word, cat_type, cat_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   660
        EC_SLAVE_ERR(slave, "Failed to fetch SII contents.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
    // 2 words fetched
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   666
    if (fsm->sii_offset + 2 <= slave->sii_nwords) { // 2 words fit
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   667
        memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 4);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   668
    } else { // copy the last word
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   669
        memcpy(slave->sii_words + fsm->sii_offset, fsm->fsm_sii.value, 2);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   670
    }
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   671
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   672
    if (fsm->sii_offset + 2 < slave->sii_nwords) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
        // fetch the next 2 words
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
        fsm->sii_offset += 2;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   681
    // Evaluate SII contents
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   682
870
fbd5924690ee Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents: 841
diff changeset
   683
    ec_slave_clear_sync_managers(slave);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   685
    slave->sii.alias =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   686
        EC_READ_U16(slave->sii_words + 0x0004);
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   687
    slave->effective_alias = slave->sii.alias;
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   688
    slave->sii.vendor_id =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   689
        EC_READ_U32(slave->sii_words + 0x0008);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   690
    slave->sii.product_code =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   691
        EC_READ_U32(slave->sii_words + 0x000A);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   692
    slave->sii.revision_number =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   693
        EC_READ_U32(slave->sii_words + 0x000C);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   694
    slave->sii.serial_number =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   695
        EC_READ_U32(slave->sii_words + 0x000E);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   696
    slave->sii.boot_rx_mailbox_offset =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   697
        EC_READ_U16(slave->sii_words + 0x0014);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   698
    slave->sii.boot_rx_mailbox_size =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   699
        EC_READ_U16(slave->sii_words + 0x0015);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   700
    slave->sii.boot_tx_mailbox_offset =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   701
        EC_READ_U16(slave->sii_words + 0x0016);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   702
    slave->sii.boot_tx_mailbox_size =
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   703
        EC_READ_U16(slave->sii_words + 0x0017);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   704
    slave->sii.std_rx_mailbox_offset =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   705
        EC_READ_U16(slave->sii_words + 0x0018);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   706
    slave->sii.std_rx_mailbox_size =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   707
        EC_READ_U16(slave->sii_words + 0x0019);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   708
    slave->sii.std_tx_mailbox_offset =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   709
        EC_READ_U16(slave->sii_words + 0x001A);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   710
    slave->sii.std_tx_mailbox_size =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   711
        EC_READ_U16(slave->sii_words + 0x001B);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   712
    slave->sii.mailbox_protocols =
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   713
        EC_READ_U16(slave->sii_words + 0x001C);
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   714
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   715
    if (slave->sii_nwords == EC_FIRST_SII_CATEGORY_OFFSET) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 870
diff changeset
   716
        // sii does not contain category data
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
        fsm->state = ec_fsm_slave_scan_state_end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   721
    if (slave->sii_nwords < EC_FIRST_SII_CATEGORY_OFFSET + 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   722
        EC_SLAVE_ERR(slave, "Unexpected end of SII data:"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   723
                " First category header missing.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   724
        goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
    // evaluate category data
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   728
    cat_word = slave->sii_words + EC_FIRST_SII_CATEGORY_OFFSET;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
    while (EC_READ_U16(cat_word) != 0xFFFF) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
        // type and size words must fit
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   732
        if (cat_word + 2 - slave->sii_words > slave->sii_nwords) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   733
            EC_SLAVE_ERR(slave, "Unexpected end of SII data:"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   734
                    " Category header incomplete.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
        cat_size = EC_READ_U16(cat_word + 1);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
        cat_word += 2;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   742
        if (cat_word + cat_size - slave->sii_words > slave->sii_nwords) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   743
            EC_SLAVE_WARN(slave, "Unexpected end of SII data:"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   744
                    " Category data incomplete.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   745
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   747
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   748
        switch (cat_type) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
            case 0x000A:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
                if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
            case 0x001E:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
                if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
            case 0x0028:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
            case 0x0029:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
                if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
                            cat_size * 2))
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   764
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   765
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
            case 0x0032:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   767
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   768
                            cat_size * 2, EC_DIR_INPUT)) // TxPDO
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
            case 0x0033:
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   773
                            cat_size * 2, EC_DIR_OUTPUT)) // RxPDO
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
                    goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
                break;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   776
            default:
1924
2917b262554b Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   777
                EC_SLAVE_DBG(slave, 1, "Unknown category type 0x%04X.\n",
2917b262554b Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   778
                        cat_type);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
        cat_word += cat_size;
977
167ae3e76cc7 Moved sii to words.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   782
        if (cat_word - slave->sii_words >= slave->sii_nwords) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   783
            EC_SLAVE_WARN(slave, "Unexpected end of SII data:"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   784
                    " Next category header missing.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
            goto end;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
1934
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   789
#ifdef EC_REGALIAS
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   790
    ec_fsm_slave_scan_enter_regalias(fsm);
1934
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   791
#else
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   792
    if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   793
        ec_fsm_slave_scan_enter_preop(fsm);
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   794
    } else {
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   795
        fsm->state = ec_fsm_slave_scan_state_end;
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   796
    }
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   797
#endif
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   798
    return;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   799
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   800
end:
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   801
    EC_SLAVE_ERR(slave, "Failed to analyze category data.\n");
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   802
    fsm->slave->error_flag = 1;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   803
    fsm->state = ec_fsm_slave_scan_state_error;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   804
}
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   805
1934
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   806
/*****************************************************************************/
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   807
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   808
#ifdef EC_REGALIAS
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   809
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   810
/** Slave scan entry function: REGALIAS.
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   811
 */
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   812
void ec_fsm_slave_scan_enter_regalias(
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   813
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   814
        )
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   815
{
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   816
    ec_datagram_t *datagram = fsm->datagram;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   817
    ec_slave_t *slave = fsm->slave;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   818
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   819
    // read alias from register
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   820
    EC_SLAVE_DBG(slave, 1, "Reading alias from register.\n");
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   821
    ec_datagram_fprd(datagram, slave->station_address, 0x0012, 2);
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   822
    ec_datagram_zero(datagram);
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   823
    fsm->retries = EC_FSM_RETRIES;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   824
    fsm->state = ec_fsm_slave_scan_state_regalias;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   825
}
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   826
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   827
/*****************************************************************************/
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   828
1934
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   829
/** Slave scan state: REGALIAS.
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   830
 */
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   831
void ec_fsm_slave_scan_state_regalias(
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   832
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1776
diff changeset
   833
        )
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   834
{
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   835
    ec_datagram_t *datagram = fsm->datagram;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   836
    ec_slave_t *slave = fsm->slave;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   837
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   838
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   839
        return;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   840
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   841
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   842
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   843
        EC_SLAVE_ERR(slave, "Failed to receive register alias datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   844
        ec_datagram_print_state(datagram);
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   845
        return;
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   846
    }
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1470
diff changeset
   847
1776
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   848
    if (datagram->working_counter != 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   849
        EC_SLAVE_DBG(slave, 1, "Failed to read register alias.\n");
1776
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   850
    } else {
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   851
        slave->effective_alias = EC_READ_U16(datagram->data);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   852
        EC_SLAVE_DBG(slave, 1, "Read alias %u from register.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   853
                slave->effective_alias);
1776
65786b1d3043 removed tabulators
Martin Troxler <ch1010277@ch10lt194>
parents: 1775
diff changeset
   854
    }
1934
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   855
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   856
    if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   857
        ec_fsm_slave_scan_enter_preop(fsm);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   858
    } else {
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   859
        fsm->state = ec_fsm_slave_scan_state_end;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   860
    }
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   861
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   862
1934
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   863
#endif // defined EC_REGALIAS
f00951ab7399 Introduced configure switch --enable-regalias for enabling reading alias
Florian Pose <fp@igh-essen.com>
parents: 1924
diff changeset
   864
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   865
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   866
841
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   867
/** Enter slave scan state PREOP.
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   868
 */
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   869
void ec_fsm_slave_scan_enter_preop(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   870
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   871
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   872
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   873
    ec_slave_t *slave = fsm->slave;
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   874
    uint8_t current_state = slave->current_state & EC_SLAVE_STATE_MASK;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   875
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   876
    if (current_state != EC_SLAVE_STATE_PREOP
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   877
            && current_state != EC_SLAVE_STATE_SAFEOP
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   878
            && current_state != EC_SLAVE_STATE_OP) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   879
        if (slave->master->debug_level) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   880
            char str[EC_STATE_STRING_SIZE];
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   881
            ec_state_string(current_state, str, 0);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   882
            EC_SLAVE_DBG(slave, 0, "Slave is not in the state"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   883
                    " to do mailbox com (%s), setting to PREOP.\n", str);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   884
        }
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   885
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   886
        fsm->state = ec_fsm_slave_scan_state_preop;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   887
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   888
        ec_fsm_slave_config_start(fsm->fsm_slave_config, slave);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   889
        ec_fsm_slave_config_exec(fsm->fsm_slave_config);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   890
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   891
        EC_SLAVE_DBG(slave, 1, "Reading mailbox"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   892
                " sync manager configuration.\n");
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   893
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   894
        /* Scan current sync manager configuration to get configured mailbox
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   895
         * sizes. */
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   896
        ec_datagram_fprd(fsm->datagram, slave->station_address, 0x0800,
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   897
                EC_SYNC_PAGE_SIZE * 2);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   898
        fsm->retries = EC_FSM_RETRIES;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   899
        fsm->state = ec_fsm_slave_scan_state_sync;
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   900
    }
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   901
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   902
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   903
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   904
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   905
/** Slave scan state: PREOP.
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   906
 */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   907
void ec_fsm_slave_scan_state_preop(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   908
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   909
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   910
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   911
    if (ec_fsm_slave_config_exec(fsm->fsm_slave_config))
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   912
        return;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   913
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   914
    if (!ec_fsm_slave_config_success(fsm->fsm_slave_config)) {
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   915
        fsm->state = ec_fsm_slave_scan_state_error;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   916
        return;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   917
    }
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   918
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   919
    ec_fsm_slave_scan_enter_pdos(fsm);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   920
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   921
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   922
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   923
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   924
/** Slave scan state: SYNC.
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   925
 */
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   926
void ec_fsm_slave_scan_state_sync(
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   927
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   928
        )
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   929
{
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   930
    ec_datagram_t *datagram = fsm->datagram;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   931
    ec_slave_t *slave = fsm->slave;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   932
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   933
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   934
        return;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   935
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   936
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   937
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   938
        EC_SLAVE_ERR(slave, "Failed to receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   939
                " configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   940
        ec_datagram_print_state(datagram);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   941
        return;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   942
    }
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   943
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   944
    if (datagram->working_counter != 1) {
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   945
        fsm->slave->error_flag = 1;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   946
        fsm->state = ec_fsm_slave_scan_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   947
        EC_SLAVE_ERR(slave, "Failed to read DL status: ");
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   948
        ec_datagram_print_wc_error(datagram);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   949
        return;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   950
    }
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   951
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   952
    slave->configured_rx_mailbox_offset = EC_READ_U16(datagram->data);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   953
    slave->configured_rx_mailbox_size = EC_READ_U16(datagram->data + 2);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   954
    slave->configured_tx_mailbox_offset = EC_READ_U16(datagram->data + 8);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   955
    slave->configured_tx_mailbox_size = EC_READ_U16(datagram->data + 10);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   956
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   957
    EC_SLAVE_DBG(slave, 1, "Mailbox configuration:\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   958
    EC_SLAVE_DBG(slave, 1, " RX offset=0x%04x size=%u\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   959
            slave->configured_rx_mailbox_offset,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   960
            slave->configured_rx_mailbox_size);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   961
    EC_SLAVE_DBG(slave, 1, " TX offset=0x%04x size=%u\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   962
            slave->configured_tx_mailbox_offset,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   963
            slave->configured_tx_mailbox_size);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   964
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   965
    ec_fsm_slave_scan_enter_pdos(fsm);
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   966
}
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   967
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   968
/*****************************************************************************/
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   969
841
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   970
/** Enter slave scan state PDOS.
6f0cf00d7107 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   971
 */
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   972
void ec_fsm_slave_scan_enter_pdos(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   973
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   974
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   975
{
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   976
    ec_slave_t *slave = fsm->slave;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   977
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   978
    EC_SLAVE_DBG(slave, 1, "Scanning PDO assignment and mapping.\n");
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   979
    fsm->state = ec_fsm_slave_scan_state_pdos;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   980
    ec_fsm_pdo_start_reading(fsm->fsm_pdo, slave);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 1958
diff changeset
   981
    ec_fsm_pdo_exec(fsm->fsm_pdo, fsm->datagram); // execute immediately
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   982
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   983
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   984
/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   985
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   986
/** Slave scan state: PDOS.
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   987
 */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   988
void ec_fsm_slave_scan_state_pdos(
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   989
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   990
        )
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   991
{
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 1958
diff changeset
   992
    if (ec_fsm_pdo_exec(fsm->fsm_pdo, fsm->datagram)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 1958
diff changeset
   993
        return;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 1958
diff changeset
   994
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   995
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   996
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   997
        fsm->state = ec_fsm_slave_scan_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   998
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   999
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1000
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1001
    // reading PDO configuration finished
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
  1002
    fsm->state = ec_fsm_slave_scan_state_end;
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
  1003
}
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
  1004
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1005
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1006
 * Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1007
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1008
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1009
/** State: ERROR.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1010
 */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1011
void ec_fsm_slave_scan_state_error(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1012
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1013
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1014
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1015
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1016
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1017
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1018
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1019
/** State: END.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1020
 */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1021
void ec_fsm_slave_scan_state_end(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1022
        ec_fsm_slave_scan_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1023
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1024
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1025
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1026
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1027
/*****************************************************************************/