master/fsm_slave_config.c
author Florian Pose <fp@igh-essen.com>
Sun, 06 Jun 2010 21:07:36 +0200
changeset 1941 e12266a4f473
parent 1931 831f2d34664c
child 1944 73896ef6d077
permissions -rw-r--r--
Minor change.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 *
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 * EtherCAT slave configuration state machine.
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 */
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/*****************************************************************************/
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#include <asm/div64.h>
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave_config.h"
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/*****************************************************************************/
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/** Maximum clock difference (in ns) before going to SAFEOP.
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 *
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 * Wait for DC time difference to drop under this absolute value before
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 * requesting SAFEOP.
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 */
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#define EC_DC_MAX_SYNC_DIFF_NS 5000
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/** Maximum time (in ms) to wait for clock discipline.
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 */
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#define EC_DC_SYNC_WAIT_MS 5000
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/** Time offset (in ns), that is added to cyclic start time.
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 */
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#define EC_DC_START_OFFSET 100000000ULL
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/*****************************************************************************/
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_soe_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_config_init(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
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        ec_datagram_t *datagram, /**< datagram structure to use */
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        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
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        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
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        )
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{
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    ec_sdo_request_init(&fsm->request_copy);
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    ec_soe_request_init(&fsm->soe_request_copy);
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    fsm->datagram = datagram;
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    fsm->fsm_change = fsm_change;
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    fsm->fsm_coe = fsm_coe;
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    fsm->fsm_pdo = fsm_pdo;
830
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   124
}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_config_clear(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    ec_sdo_request_clear(&fsm->request_copy);
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   135
    ec_soe_request_clear(&fsm->soe_request_copy);
830
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   136
}
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/*****************************************************************************/
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/** Start slave configuration state machine.
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   141
 */
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void ec_fsm_slave_config_start(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
830
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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   148
    fsm->state = ec_fsm_slave_config_state_start;
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   149
}
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/*****************************************************************************/
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/**
1064
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 * \return false, if state machine has terminated
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   155
 */
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   156
int ec_fsm_slave_config_running(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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   158
        )
830
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   159
{
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   160
    return fsm->state != ec_fsm_slave_config_state_end
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   161
        && fsm->state != ec_fsm_slave_config_state_error;
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   162
}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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   169
 * of the state machine is delayed to the next cycle.
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 *
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 * \return false, if state machine has terminated
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 */
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   173
int ec_fsm_slave_config_exec(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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   177
    if (fsm->datagram->state == EC_DATAGRAM_SENT
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   178
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   179
        // datagram was not sent or received yet.
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   180
        return ec_fsm_slave_config_running(fsm);
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   181
    }
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    fsm->state(fsm);
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   184
    return ec_fsm_slave_config_running(fsm);
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   185
}
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/*****************************************************************************/
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   188
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   189
/**
1064
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 * \return true, if the state machine terminated gracefully
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   191
 */
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   192
int ec_fsm_slave_config_success(
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   193
        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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   194
        )
830
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   195
{
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   196
    return fsm->state == ec_fsm_slave_config_state_end;
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   197
}
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/******************************************************************************
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 * Slave configuration state machine
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 *****************************************************************************/
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   202
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   203
/** Slave configuration state: START.
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   204
 */
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void ec_fsm_slave_config_state_start(
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   206
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   207
        )
830
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   208
{
1921
d9cf40facbc4 Improved syslog macros.
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   209
    EC_SLAVE_DBG(fsm->slave, 1, "Configuring...\n");
1318
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   210
    ec_fsm_slave_config_enter_init(fsm);
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   211
}
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   212
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   213
/*****************************************************************************/
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   214
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
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   215
/** Start state change to INIT.
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   216
 */
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   217
void ec_fsm_slave_config_enter_init(
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   218
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   219
        )
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
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   220
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   221
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   222
    ec_fsm_change_exec(fsm->fsm_change);
830
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parents:
diff changeset
   223
    fsm->state = ec_fsm_slave_config_state_init;
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diff changeset
   224
}
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   225
d83d92e1a919 Separated slave state machines.
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   226
/*****************************************************************************/
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   227
1064
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   228
/** Slave configuration state: INIT.
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   229
 */
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   230
void ec_fsm_slave_config_state_init(
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   231
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   232
        )
830
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   233
{
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   234
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
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   235
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   236
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   237
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   238
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   239
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   240
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   241
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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diff changeset
   242
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   243
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   244
    }
d83d92e1a919 Separated slave state machines.
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   245
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   246
    EC_SLAVE_DBG(slave, 1, "Now in INIT.\n");
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   247
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   248
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1342
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   249
        ec_fsm_slave_config_enter_clear_sync(fsm);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   250
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   251
    }
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   252
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   253
    EC_SLAVE_DBG(slave, 1, "Clearing FMMU configurations...\n");
830
d83d92e1a919 Separated slave state machines.
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parents:
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   254
d83d92e1a919 Separated slave state machines.
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   255
    // clear FMMU configurations
d83d92e1a919 Separated slave state machines.
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diff changeset
   256
    ec_datagram_fpwr(datagram, slave->station_address,
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Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   257
            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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parents: 1180
diff changeset
   258
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
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    fsm->retries = EC_FSM_RETRIES;
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    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
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   261
}
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d83d92e1a919 Separated slave state machines.
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/*****************************************************************************/
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   264
1064
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/** Slave configuration state: CLEAR FMMU.
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   266
 */
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   267
void ec_fsm_slave_config_state_clear_fmmus(
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   268
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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diff changeset
   269
        )
830
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{
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   271
    ec_datagram_t *datagram = fsm->datagram;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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   274
        return;
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   275
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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   278
        EC_SLAVE_ERR(fsm->slave, "Failed receive FMMU clearing datagram.\n");
830
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   279
        return;
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   280
    }
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   281
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   282
    if (datagram->working_counter != 1) {
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   283
        fsm->slave->error_flag = 1;
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   284
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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   285
        EC_SLAVE_ERR(fsm->slave, "Failed to clear FMMUs: ");
830
d83d92e1a919 Separated slave state machines.
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   286
        ec_datagram_print_wc_error(datagram);
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   287
        return;
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   288
    }
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   289
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    ec_fsm_slave_config_enter_clear_sync(fsm);
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   291
}
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   292
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   293
/*****************************************************************************/
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   294
a72b9b370277 Clear sync managers before configuration.
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/** Clear the sync manager configurations.
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   296
 */
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   297
void ec_fsm_slave_config_enter_clear_sync(
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   298
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   299
        )
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{
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   301
    ec_slave_t *slave = fsm->slave;
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   302
    ec_datagram_t *datagram = fsm->datagram;
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   303
    size_t sync_size;
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   304
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
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   305
    if (!slave->base_sync_count) {
1404
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   306
        // no sync managers
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        ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1342
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   308
        return;
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   309
    }
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   310
1921
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   311
    EC_SLAVE_DBG(slave, 1, "Clearing sync manager configurations...\n");
1344
e5756d4ed12c Debug message.
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   312
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
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   313
    sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
1342
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   314
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   315
    // clear sync manager configurations
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   316
    ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
1896
1d4bca6ba543 Use ec_datagram_zero() wherever possible.
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   317
    ec_datagram_zero(datagram);
1342
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   318
    fsm->retries = EC_FSM_RETRIES;
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   319
    fsm->state = ec_fsm_slave_config_state_clear_sync;
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   320
}
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   321
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   322
/*****************************************************************************/
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   323
a72b9b370277 Clear sync managers before configuration.
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   324
/** Slave configuration state: CLEAR SYNC.
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   325
 */
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   326
void ec_fsm_slave_config_state_clear_sync(
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   327
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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diff changeset
   328
        )
a72b9b370277 Clear sync managers before configuration.
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   329
{
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   330
    ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   331
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   332
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   333
        return;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   334
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   335
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   336
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   337
        EC_SLAVE_ERR(fsm->slave, "Failed receive sync manager"
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   338
                " clearing datagram.\n");
1342
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   339
        return;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   340
    }
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   341
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   342
    if (datagram->working_counter != 1) {
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   343
        fsm->slave->error_flag = 1;
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   344
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   345
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   346
                "Failed to clear sync manager configurations: ");
1342
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   347
        ec_datagram_print_wc_error(datagram);
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   348
        return;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   349
    }
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   350
1407
e3974f72d31e Improved DC configuration.
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diff changeset
   351
    ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1406
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   352
}
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   353
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   354
/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   355
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
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diff changeset
   356
/** Clear the DC assignment.
8686c5b3d14b Clear DC assignment after going to INIT.
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diff changeset
   357
 */
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   358
void ec_fsm_slave_config_enter_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   359
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   360
        )
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   361
{
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   362
    ec_slave_t *slave = fsm->slave;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   363
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   364
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   365
    if (!slave->base_dc_supported || !slave->has_dc_system_time) {
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   366
        ec_fsm_slave_config_enter_mbox_sync(fsm);
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   367
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   368
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   369
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   370
    EC_SLAVE_DBG(slave, 1, "Clearing DC assignment...\n");
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   371
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   372
    ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   373
    ec_datagram_zero(datagram);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   374
    fsm->retries = EC_FSM_RETRIES;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   375
    fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   376
}
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   377
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   378
/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   379
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   380
/** Slave configuration state: CLEAR DC ASSIGN.
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   381
 */
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   382
void ec_fsm_slave_config_state_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   383
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   384
        )
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   385
{
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   386
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   387
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   388
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   389
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   390
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   391
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   392
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   393
        EC_SLAVE_ERR(fsm->slave, "Failed receive DC assignment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   394
                " clearing datagram.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   395
        return;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   396
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   397
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   398
    if (datagram->working_counter != 1) {
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   399
        // clearing the DC assignment does not succeed on simple slaves
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   400
        EC_SLAVE_DBG(fsm->slave, 1, "Failed to clear DC assignment: ");
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   401
        ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   402
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   403
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
    ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   409
/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   410
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
    // slave is now in INIT
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   422
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   426
    if (!slave->sii.mailbox_protocols) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
        // no mailbox protocols supported
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   428
        EC_SLAVE_DBG(slave, 1, "Slave does not support"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   429
                " mailbox communication.\n");
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   430
        ec_fsm_slave_config_enter_boot_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   434
    EC_SLAVE_DBG(slave, 1, "Configuring mailbox sync managers...\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   436
    if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   437
        ec_sync_t sync;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   438
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   439
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   440
                EC_SYNC_PAGE_SIZE * 2);
1896
1d4bca6ba543 Use ec_datagram_zero() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1889
diff changeset
   441
        ec_datagram_zero(datagram);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   442
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   443
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   444
        sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   445
        sync.control_register = 0x26;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   446
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   447
        ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   448
                EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   449
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   450
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   451
            slave->sii.boot_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   452
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   453
            slave->sii.boot_rx_mailbox_size;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   454
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   455
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   456
        sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   457
        sync.control_register = 0x22;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   458
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   459
        ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   460
                EC_DIR_INVALID, // use default direction
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   461
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   462
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   463
            slave->sii.boot_tx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   464
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   465
            slave->sii.boot_tx_mailbox_size;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   466
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   467
    } else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   469
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   470
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
        for (i = 0; i < 2; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   473
            ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   474
                    slave->sii.syncs[i].default_length,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   475
                    NULL, // use default sync manager configuration
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        }
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
   478
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
   479
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   480
            slave->sii.syncs[0].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   481
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   482
            slave->sii.syncs[0].default_length;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   483
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   484
            slave->sii.syncs[1].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   485
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   486
            slave->sii.syncs[1].default_length;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
    } else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
        ec_sync_t sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   490
        EC_SLAVE_DBG(slave, 1, "Slave does not provide"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   491
                " mailbox sync manager configurations.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
                EC_SYNC_PAGE_SIZE * 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   495
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   497
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   498
        sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
        sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   501
        ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   502
                NULL, // use default sync manager configuration
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   503
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   504
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   505
            slave->sii.std_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   506
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   507
            slave->sii.std_rx_mailbox_size;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   508
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   509
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   510
        sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
        sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   513
        ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   514
                NULL, // use default sync manager configuration
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   515
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   516
        slave->configured_tx_mailbox_offset =
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   517
            slave->sii.std_tx_mailbox_offset;
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   518
        slave->configured_tx_mailbox_size =
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   519
            slave->sii.std_tx_mailbox_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   522
    fsm->take_time = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   523
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
    fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   530
/** Slave configuration state: SYNC.
1345
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   531
 *
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   532
 * \todo Timeout for response.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   533
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   534
void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   535
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   536
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   546
        EC_SLAVE_ERR(slave, "Failed to receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   547
                " configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
   548
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   552
    if (fsm->take_time) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   553
        fsm->take_time = 0;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   554
        fsm->jiffies_start = datagram->jiffies_sent;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   555
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   556
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   557
    /* Because the sync manager configurations are cleared during the last
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   558
     * cycle, some slaves do not immediately respond to the mailbox sync
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   559
     * manager configuration datagram. Therefore, resend the datagram for
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   560
     * a certain time, if the slave does not respond.
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   561
     */
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   562
    if (datagram->working_counter == 0) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   563
        unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   564
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   565
        if (diff >= HZ) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   566
            slave->error_flag = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   567
            fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   568
            EC_SLAVE_ERR(slave, "Timeout while configuring"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   569
                    " mailbox sync managers.\n");
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   570
            return;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   571
        } else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   572
            EC_SLAVE_DBG(slave, 1, "Resending after %u ms...\n",
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   573
                    (unsigned int) diff * 1000 / HZ);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   574
        }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   575
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   576
        // send configuration datagram again
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   577
        fsm->retries = EC_FSM_RETRIES;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   578
        return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   579
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   580
    else if (datagram->working_counter != 1) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   583
        EC_SLAVE_ERR(slave, "Failed to set sync managers: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   588
    ec_fsm_slave_config_enter_boot_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   593
/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   594
 */
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   595
void ec_fsm_slave_config_enter_boot_preop(
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   596
        ec_fsm_slave_config_t *fsm /**< slave state machine */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   597
        )
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   598
{
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   599
    fsm->state = ec_fsm_slave_config_state_boot_preop;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   600
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   601
    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   602
        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   603
    } else { // BOOT
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   604
        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   605
    }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   606
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   607
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   612
/** Slave configuration state: BOOT/PREOP.
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   613
 */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   614
void ec_fsm_slave_config_state_boot_preop(
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   615
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   616
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   620
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   621
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   622
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   623
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   629
    // slave is now in BOOT or PREOP
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
    slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   632
    EC_SLAVE_DBG(slave, 1, "Now in %s.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   633
            slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   637
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   641
    ec_fsm_slave_config_enter_sdo_conf(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   642
}
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   643
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   644
/*****************************************************************************/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   645
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   646
/** Check for SDO configurations to be applied.
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   647
 */
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   648
void ec_fsm_slave_config_enter_sdo_conf(
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   649
        ec_fsm_slave_config_t *fsm /**< slave state machine */
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   650
        )
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   651
{
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   652
    ec_slave_t *slave = fsm->slave;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   653
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
    if (!slave->config) {
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   655
        ec_fsm_slave_config_enter_pdo_sync(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   656
        return;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   657
    }
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   658
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
    // No CoE configuration to be applied?
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   660
    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   661
        ec_fsm_slave_config_enter_soe_conf(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
        return;
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
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   665
    // start SDO configuration
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
    fsm->state = ec_fsm_slave_config_state_sdo_conf;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   667
    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   668
            ec_sdo_request_t, list);
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   669
    ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   670
    ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   671
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   672
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   677
/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   678
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   683
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   684
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   685
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   686
        EC_SLAVE_ERR(fsm->slave, "SDO configuration failed.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   692
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   693
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   694
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   695
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   696
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   697
    // Another SDO to configure?
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   698
    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   699
        fsm->request = list_entry(fsm->request->list.next,
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   700
                ec_sdo_request_t, list);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   701
        ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   702
        ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   703
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   704
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   708
    // All SDOs are now configured.
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   709
    ec_fsm_slave_config_enter_soe_conf(fsm);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   710
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   711
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   712
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   713
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   714
/** Check for SoE configurations to be applied.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   715
 */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   716
void ec_fsm_slave_config_enter_soe_conf(
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   717
        ec_fsm_slave_config_t *fsm /**< slave state machine */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   718
        )
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   719
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   720
    ec_slave_t *slave = fsm->slave;
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   721
    ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   722
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   723
    if (!slave->config) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   724
        ec_fsm_slave_config_enter_pdo_sync(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   725
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   726
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   727
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   728
    // No SoE configuration to be applied?
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   729
    if (list_empty(&slave->config->soe_configs)) { // skip configuration
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   730
        ec_fsm_slave_config_enter_pdo_conf(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   731
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   732
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   733
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   734
    // start SoE configuration
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   735
    fsm->state = ec_fsm_slave_config_state_soe_conf;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   736
    fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   737
            ec_soe_request_t, list);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   738
    ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   739
    ec_soe_request_write(&fsm->soe_request_copy);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   740
    ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   741
    ec_fsm_soe_exec(fsm_soe); // execute immediately
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   742
    ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   743
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   744
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   745
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   746
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   747
/** Slave configuration state: SOE_CONF.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   748
 */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   749
void ec_fsm_slave_config_state_soe_conf(
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   750
        ec_fsm_slave_config_t *fsm /**< slave state machine */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   751
        )
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   752
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   753
    ec_slave_t *slave = fsm->slave;
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   754
    ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   755
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   756
    if (ec_fsm_soe_exec(fsm_soe)) {
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   757
        ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   758
        return;
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   759
    }
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   760
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   761
    if (!ec_fsm_soe_success(fsm_soe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   762
        EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   763
        fsm->slave->error_flag = 1;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   764
        fsm->state = ec_fsm_slave_config_state_error;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   765
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   766
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   767
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   768
    if (!fsm->slave->config) { // config removed in the meantime
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   769
        ec_fsm_slave_config_reconfigure(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   770
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   771
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   772
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   773
    // Another IDN to configure?
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   774
    if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   775
        fsm->soe_request = list_entry(fsm->soe_request->list.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   776
                ec_soe_request_t, list);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   777
        ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   778
        ec_soe_request_write(&fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   779
        ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   780
        ec_fsm_soe_exec(fsm_soe); // execute immediately
1873
219be3742274 Added missing queue_external_datagram(); removed tabs.
Florian Pose <fp@igh-essen.com>
parents: 1849
diff changeset
   781
        ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   782
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   783
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   784
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   785
    // All SDOs are now configured.
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   786
    ec_fsm_slave_config_enter_pdo_conf(fsm);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   787
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   788
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   789
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   790
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   791
/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   792
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   793
void ec_fsm_slave_config_enter_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   794
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   795
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   796
{
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   797
    // Start configuring PDOs
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   798
    ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   799
    fsm->state = ec_fsm_slave_config_state_pdo_conf;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   800
    fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   801
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   802
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   803
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   804
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   805
/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   806
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   807
void ec_fsm_slave_config_state_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   808
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   809
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   810
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1491
diff changeset
   811
    // TODO check for config here
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   812
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   813
    if (ec_fsm_pdo_exec(fsm->fsm_pdo))
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   814
        return;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   815
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   816
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   817
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   818
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   819
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   820
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   821
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   822
        EC_SLAVE_WARN(fsm->slave, "PDO configuration failed.\n");
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   823
    }
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   824
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   825
    ec_fsm_slave_config_enter_watchdog_divider(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   826
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   827
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   828
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   829
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   830
/** WATCHDOG_DIVIDER entry function.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   831
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   832
void ec_fsm_slave_config_enter_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   833
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   834
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   835
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   836
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   837
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   838
    ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   839
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   840
    if (config && config->watchdog_divider) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   841
        EC_SLAVE_DBG(slave, 1, "Setting watchdog divider to %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   842
                config->watchdog_divider);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   843
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   844
        ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   845
        EC_WRITE_U16(datagram->data, config->watchdog_divider);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   846
        fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   847
        fsm->state = ec_fsm_slave_config_state_watchdog_divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   848
    } else {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   849
        ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   850
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   851
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   852
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   853
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   854
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   855
/** Slave configuration state: WATCHDOG_DIVIDER.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   856
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   857
void ec_fsm_slave_config_state_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   858
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   859
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   860
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   861
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   862
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   863
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   864
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   865
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   866
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   867
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   868
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   869
        EC_SLAVE_ERR(slave, "Failed to receive watchdog divider"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   870
                " configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
   871
        ec_datagram_print_state(datagram);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   872
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   873
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   874
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   875
    if (datagram->working_counter != 1) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   876
        slave->error_flag = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   877
        EC_SLAVE_WARN(slave, "Failed to set watchdog divider: ");
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   878
        ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   879
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   880
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   881
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   882
    ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   883
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   884
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   885
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   886
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   887
/** WATCHDOG entry function
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   888
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   889
void ec_fsm_slave_config_enter_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   890
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   891
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   892
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   893
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   894
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   895
    ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   896
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   897
    if (config && config->watchdog_intervals) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   898
        EC_SLAVE_DBG(slave, 1, "Setting process data"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   899
                " watchdog intervals to %u.\n", config->watchdog_intervals);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   900
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   901
        ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   902
        EC_WRITE_U16(datagram->data, config->watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   903
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   904
        fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   905
        fsm->state = ec_fsm_slave_config_state_watchdog;
1520
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   906
    } else {
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   907
        ec_fsm_slave_config_enter_pdo_sync(fsm);
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   908
    }
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   909
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   910
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   911
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   912
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   913
/** Slave configuration state: WATCHDOG.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   914
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   915
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   916
void ec_fsm_slave_config_state_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   917
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   918
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   919
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   920
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   921
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   922
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   923
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   924
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   925
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   926
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   927
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   928
        EC_SLAVE_ERR(slave, "Failed to receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   929
                " watchdog configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
   930
        ec_datagram_print_state(datagram);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   931
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   932
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   933
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   934
    if (datagram->working_counter != 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   935
        EC_SLAVE_WARN(slave, "Failed to set process data"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   936
                " watchdog intervals: ");
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   937
        ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   938
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   939
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   940
    ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   941
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   942
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   943
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   944
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   945
/** Check for PDO sync managers to be configured.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   946
 */
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   947
void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   948
        ec_fsm_slave_config_t *fsm /**< slave state machine */
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   949
        )
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   950
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   951
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   952
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   953
    unsigned int i, offset, num_pdo_syncs;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   954
    uint8_t sync_index;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   955
    const ec_sync_t *sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   956
    uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   957
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   958
    if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   959
        offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   960
    } else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   961
        offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   962
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   963
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   964
    if (slave->sii.sync_count <= offset) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   965
        // no PDO sync managers to configure
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   966
        ec_fsm_slave_config_enter_fmmu(fsm);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   967
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   968
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   969
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   970
    num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   971
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   972
    // configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   973
    ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   974
            0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   975
            EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   976
    ec_datagram_zero(datagram);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   977
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   978
    for (i = 0; i < num_pdo_syncs; i++) {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   979
        const ec_sync_config_t *sync_config;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   980
        sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   981
        sync = &slave->sii.syncs[sync_index];
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   982
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   983
        if (slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   984
            sync_config = &slave->config->sync_configs[sync_index];
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   985
            size = ec_pdo_list_total_size(&sync_config->pdos);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   986
        } else {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   987
            sync_config = NULL;
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   988
            size = sync->default_length;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   989
        }
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   990
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   991
        ec_sync_page(sync, sync_index, size, sync_config,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   992
                datagram->data + EC_SYNC_PAGE_SIZE * i);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   993
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   994
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   995
    fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   996
    fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   997
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   998
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   999
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
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
/** Configure PDO sync managers.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1002
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1003
void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1004
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1005
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1006
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1007
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1008
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1009
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1010
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1011
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1012
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1013
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1014
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1015
        EC_SLAVE_ERR(slave, "Failed to receive process data sync"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1016
                " manager configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1017
        ec_datagram_print_state(datagram);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1018
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1019
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1020
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1021
    if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1022
        slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1023
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1024
        EC_SLAVE_ERR(slave, "Failed to set process data sync managers: ");
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1025
        ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1026
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1027
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1028
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1029
    ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1030
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1031
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1032
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1033
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1034
/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1035
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1036
void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1037
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1038
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1039
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1040
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1041
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1042
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1043
    const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1044
    const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1045
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1046
    if (!slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1047
        ec_fsm_slave_config_enter_safeop(fsm);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1048
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1049
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1050
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1051
    if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1052
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1053
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1054
        EC_SLAVE_ERR(slave, "Slave has less FMMUs (%u)"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1055
                " than requested (%u).\n", slave->base_fmmu_count,
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1056
                slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1057
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1058
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1059
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1060
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1061
        ec_fsm_slave_config_enter_dc_cycle(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1062
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1064
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1065
    // configure FMMUs
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1066
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1067
                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
  1068
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1069
    for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1070
        fmmu = &slave->config->fmmu_configs[i];
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1071
        if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1072
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1073
            fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1074
            EC_SLAVE_ERR(slave, "Failed to determine PDO sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1075
                    " for FMMU!\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1076
            return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1077
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1078
        ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
                datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1080
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1081
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1082
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1083
    fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1084
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1085
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1086
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1087
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1088
/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1089
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1090
void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1091
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1092
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1093
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1094
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1095
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1096
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1097
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1098
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1099
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1100
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1101
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1102
        EC_SLAVE_ERR(slave, "Failed to receive FMMUs datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1103
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1104
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1105
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1106
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1107
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1108
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1109
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1110
        EC_SLAVE_ERR(slave, "Failed to set FMMUs: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1111
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1112
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1113
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1114
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1115
    ec_fsm_slave_config_enter_dc_cycle(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1116
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1117
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1118
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1119
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1120
/** Check for DC to be configured.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1121
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1122
void ec_fsm_slave_config_enter_dc_cycle(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1123
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1124
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1125
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1126
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1127
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1128
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1129
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1130
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1131
        ec_fsm_slave_config_reconfigure(fsm);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1132
        return;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1133
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1134
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1135
    if (config->dc_assign_activate) {
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
  1136
        if (!slave->base_dc_supported || !slave->has_dc_system_time) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1137
            EC_SLAVE_WARN(slave, "Slave seems not to support"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1138
                    " distributed clocks!\n");
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1139
        }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1140
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1141
        EC_SLAVE_DBG(slave, 1, "Setting DC cycle times to %u / %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1142
                config->dc_sync[0].cycle_time, config->dc_sync[1].cycle_time);
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1143
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1144
        // set DC cycle times
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1145
        ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1146
        EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1147
        EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1148
        fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1149
        fsm->state = ec_fsm_slave_config_state_dc_cycle;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1150
    } else {
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1151
        // DC are unused
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1152
        ec_fsm_slave_config_enter_safeop(fsm);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1153
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1154
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1155
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1156
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1157
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1158
/** Slave configuration state: DC CYCLE.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1159
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1160
void ec_fsm_slave_config_state_dc_cycle(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1161
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1162
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1163
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1164
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1165
    ec_slave_t *slave = fsm->slave;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1166
    ec_slave_config_t *config = slave->config;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1167
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1168
    if (!config) { // config removed in the meantime
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1169
        ec_fsm_slave_config_reconfigure(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1170
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1171
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1172
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1173
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1174
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1175
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1176
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1177
        fsm->state = ec_fsm_slave_config_state_error;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1178
        EC_SLAVE_ERR(slave, "Failed to receive DC cycle times datagram: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1179
        ec_datagram_print_state(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1180
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1181
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1182
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1183
    if (datagram->working_counter != 1) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1184
        slave->error_flag = 1;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1185
        fsm->state = ec_fsm_slave_config_state_error;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1186
        EC_SLAVE_ERR(slave, "Failed to set DC cycle times: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1187
        ec_datagram_print_wc_error(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1188
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1189
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1190
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1191
    EC_SLAVE_DBG(slave, 1, "Checking for synchrony.\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1192
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1193
    fsm->jiffies_start = jiffies;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1194
    ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1195
    fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1196
    fsm->state = ec_fsm_slave_config_state_dc_sync_check;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1197
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1198
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1199
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1200
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1201
/** Slave configuration state: DC SYNC CHECK.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1202
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1203
void ec_fsm_slave_config_state_dc_sync_check(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1204
        ec_fsm_slave_config_t *fsm /**< slave state machine */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1205
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1206
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1207
    ec_datagram_t *datagram = fsm->datagram;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1208
    ec_slave_t *slave = fsm->slave;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1209
    ec_master_t *master = slave->master;
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1210
    ec_slave_config_t *config = slave->config;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1211
    uint32_t abs_sync_diff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1212
    unsigned long diff_ms;
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1213
    ec_sync_signal_t *sync0 = &config->dc_sync[0];
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1214
    u64 start_time;
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1215
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1216
    if (!config) { // config removed in the meantime
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1217
        ec_fsm_slave_config_reconfigure(fsm);
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1218
        return;
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1219
    }
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1220
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1221
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1222
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1223
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1224
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1225
        fsm->state = ec_fsm_slave_config_state_error;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1226
        EC_SLAVE_ERR(slave, "Failed to receive DC sync check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1227
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1228
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1229
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1230
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1231
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1232
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1233
        fsm->state = ec_fsm_slave_config_state_error;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1234
        EC_SLAVE_ERR(slave, "Failed to check DC synchrony: ");
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1235
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1236
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1237
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1238
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1239
    abs_sync_diff = EC_READ_U32(datagram->data) & 0x7fffffff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1240
    diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1241
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1242
    if (abs_sync_diff > EC_DC_MAX_SYNC_DIFF_NS) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1243
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1244
        if (diff_ms >= EC_DC_SYNC_WAIT_MS) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1245
            EC_SLAVE_WARN(slave, "Slave did not sync after %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1246
                    diff_ms);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1247
        } else {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1248
            EC_SLAVE_DBG(slave, 1, "Sync after %4lu ms: %10u ns\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1249
                    diff_ms, abs_sync_diff);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1250
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1251
            // check synchrony again
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1252
            ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1253
            fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1254
            return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1255
        }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1256
    } else {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1257
        EC_SLAVE_DBG(slave, 1, "%u ns difference after %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1258
                abs_sync_diff, diff_ms);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1259
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1260
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1261
    // set DC start time
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1262
    start_time = master->app_time + EC_DC_START_OFFSET; // now + X ns
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1263
    // FIXME use slave's local system time here?
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1264
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1265
    if (sync0->cycle_time) {
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1266
        // find correct phase
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1267
        if (master->has_app_time) {
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1268
            u64 diff, start;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1269
            u32 remainder;
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1270
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1271
            diff = start_time - master->app_start_time;
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1272
            remainder = do_div(diff, sync0->cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1273
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1274
            start = start_time +
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1275
                sync0->cycle_time - remainder + sync0->shift_time;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1276
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1277
            EC_SLAVE_DBG(slave, 1, "app_start_time=%llu\n",
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1278
                    master->app_start_time);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1279
            EC_SLAVE_DBG(slave, 1, "    start_time=%llu\n", start_time);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1280
            EC_SLAVE_DBG(slave, 1, "    cycle_time=%u\n", sync0->cycle_time);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1281
            EC_SLAVE_DBG(slave, 1, "    shift_time=%u\n", sync0->shift_time);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1282
            EC_SLAVE_DBG(slave, 1, "     remainder=%u\n", remainder);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1283
            EC_SLAVE_DBG(slave, 1, "         start=%llu\n", start);
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1284
            start_time = start;
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1285
        } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1286
            EC_SLAVE_WARN(slave, "No application time supplied."
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1287
                    " Cyclic start time will not be in phase.\n");
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1288
        }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1289
    }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1290
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1291
    EC_SLAVE_DBG(slave, 1, "Setting DC cyclic operation"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1292
            " start time to %llu.\n", start_time);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1293
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1294
    ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1295
    EC_WRITE_U64(datagram->data, start_time);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1296
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1297
    fsm->state = ec_fsm_slave_config_state_dc_start;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1298
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1299
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1300
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1301
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1302
/** Slave configuration state: DC START.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1303
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1304
void ec_fsm_slave_config_state_dc_start(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1305
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1306
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1307
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1308
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1309
    ec_slave_t *slave = fsm->slave;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1310
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1311
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1312
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1313
        ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1314
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1315
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1316
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1317
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1318
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1319
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1320
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1321
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1322
        EC_SLAVE_ERR(slave, "Failed to receive DC start time datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1323
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1324
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1325
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1326
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1327
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1328
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1329
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1330
        EC_SLAVE_ERR(slave, "Failed to set DC start time: ");
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1331
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1332
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1333
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1334
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1335
    EC_SLAVE_DBG(slave, 1, "Setting DC AssignActivate to 0x%04x.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1336
            config->dc_assign_activate);
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1337
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1338
    // assign sync unit to EtherCAT or PDI
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1339
    ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1340
    EC_WRITE_U16(datagram->data, config->dc_assign_activate);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1341
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1342
    fsm->state = ec_fsm_slave_config_state_dc_assign;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1343
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1344
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1345
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1346
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1347
/** Slave configuration state: DC ASSIGN.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1348
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1349
void ec_fsm_slave_config_state_dc_assign(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1350
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1351
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1352
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1353
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1354
    ec_slave_t *slave = fsm->slave;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1355
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1356
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1357
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1358
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1359
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1360
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1361
        EC_SLAVE_ERR(slave, "Failed to receive DC activation datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1362
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1363
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1364
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1365
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1366
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1367
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1368
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1369
        EC_SLAVE_ERR(slave, "Failed to activate DC: ");
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1370
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1371
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1372
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1373
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1374
    ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1375
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1376
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1377
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1378
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1379
/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1380
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1381
void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1382
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1383
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1384
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1385
    fsm->state = ec_fsm_slave_config_state_safeop;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1386
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1387
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1388
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1389
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1390
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1391
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1392
/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1393
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1394
void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1395
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1396
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1397
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1398
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1399
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1400
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1401
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1402
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1403
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1404
            fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1405
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1406
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1407
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1408
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1409
    // slave is now in SAFEOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1410
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1411
    EC_SLAVE_DBG(slave, 1, "Now in SAFEOP.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1412
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1413
    if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1414
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1415
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1416
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1417
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1418
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1419
    // set state to OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1420
    fsm->state = ec_fsm_slave_config_state_op;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1421
    ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1422
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1423
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1424
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1425
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1426
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1427
/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1428
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1429
void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1430
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1431
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1432
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1433
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1434
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1435
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1436
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1437
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1438
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1439
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1440
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1441
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1442
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1443
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1444
    // slave is now in OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1445
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1446
    EC_SLAVE_DBG(slave, 1, "Now in OP. Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1447
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1448
    fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1449
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1450
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1451
/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1452
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1453
/** Reconfigure the slave starting at INIT.
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1454
 */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1455
void ec_fsm_slave_config_reconfigure(
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1456
        ec_fsm_slave_config_t *fsm /**< slave state machine */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1457
        )
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1458
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1459
    EC_SLAVE_DBG(fsm->slave, 1, "Slave configuration detached during "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1460
            "configuration. Reconfiguring.");
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1461
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1462
    ec_fsm_slave_config_enter_init(fsm); // reconfigure
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1463
}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1464
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1465
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1466
 *  Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1467
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1468
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1469
/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1470
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1471
void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1472
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1473
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1474
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1475
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1476
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1477
/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1478
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1479
/** State: END.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1480
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1481
void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1482
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1483
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1484
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1485
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1486
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1487
/*****************************************************************************/