master/fsm_slave_config.c
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625 e25af8bd3957
parent 2608 ec0b5d9a2ff1
child 2635 42b62867574d
permissions -rwxr-xr-x
Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 *
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 * EtherCAT slave configuration state machine.
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 */
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/*****************************************************************************/
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#include <asm/div64.h>
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave_config.h"
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/*****************************************************************************/
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/** Maximum clock difference (in ns) before going to SAFEOP.
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 *
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 * Wait for DC time difference to drop under this absolute value before
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 * requesting SAFEOP.
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 */
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#define EC_DC_MAX_SYNC_DIFF_NS 10000
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/** Maximum time (in ms) to wait for clock discipline.
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 */
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#define EC_DC_SYNC_WAIT_MS 5000
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/** Time offset (in ns), that is added to cyclic start time.
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 */
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#define EC_DC_START_OFFSET 100000000ULL
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/*****************************************************************************/
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
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#ifdef EC_SII_ASSIGN
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void ec_fsm_slave_config_state_assign_pdi(ec_fsm_slave_config_t *);
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#endif
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void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
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#ifdef EC_SII_ASSIGN
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void ec_fsm_slave_config_state_assign_ethercat(ec_fsm_slave_config_t *);
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#endif
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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_soe_conf_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
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#ifdef EC_SII_ASSIGN
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void ec_fsm_slave_config_enter_assign_pdi(ec_fsm_slave_config_t *);
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#endif
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void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_soe_conf_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_config_init(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
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        ec_datagram_t *datagram, /**< datagram structure to use */
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        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
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        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
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        ec_fsm_soe_t *fsm_soe, /**< SoE state machine to use. */
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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
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        )
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{
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    ec_sdo_request_init(&fsm->request_copy);
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    ec_soe_request_init(&fsm->soe_request_copy);
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    fsm->datagram = datagram;
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    fsm->fsm_change = fsm_change;
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    fsm->fsm_coe = fsm_coe;
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    fsm->fsm_soe = fsm_soe;
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    fsm->fsm_pdo = fsm_pdo;
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_config_clear(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    ec_sdo_request_clear(&fsm->request_copy);
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    ec_soe_request_clear(&fsm->soe_request_copy);
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}
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/*****************************************************************************/
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/** Start slave configuration state machine.
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 */
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void ec_fsm_slave_config_start(
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        ec_fsm_slave_config_t *fsm, /**< slave state machine */
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_slave_config_state_start;
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}
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/*****************************************************************************/
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/**
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_slave_config_running(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    return fsm->state != ec_fsm_slave_config_state_end
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        && fsm->state != ec_fsm_slave_config_state_error;
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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 * of the state machine is delayed to the next cycle.
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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_slave_config_exec(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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   192
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   193
        // datagram was not sent or received yet.
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        return ec_fsm_slave_config_running(fsm);
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    }
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    fsm->state(fsm);
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    return ec_fsm_slave_config_running(fsm);
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   199
}
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/*****************************************************************************/
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/**
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 * \return true, if the state machine terminated gracefully
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 */
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int ec_fsm_slave_config_success(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    return fsm->state == ec_fsm_slave_config_state_end;
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   211
}
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/******************************************************************************
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 * Slave configuration state machine
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 *****************************************************************************/
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/** Slave configuration state: START.
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 */
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void ec_fsm_slave_config_state_start(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   221
        )
830
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   222
{
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   223
    EC_SLAVE_DBG(fsm->slave, 1, "Configuring...\n");
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   224
    ec_fsm_slave_config_enter_init(fsm);
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   225
}
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   226
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/*****************************************************************************/
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   228
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   229
/** Start state change to INIT.
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   230
 */
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   231
void ec_fsm_slave_config_enter_init(
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   232
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   233
        )
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   234
{
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   235
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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   236
    ec_fsm_change_exec(fsm->fsm_change);
830
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   237
    fsm->state = ec_fsm_slave_config_state_init;
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   238
}
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   239
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/*****************************************************************************/
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   241
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/** Slave configuration state: INIT.
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   243
 */
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   244
void ec_fsm_slave_config_state_init(
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   245
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   246
        )
830
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   247
{
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   248
    ec_slave_t *slave = fsm->slave;
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   249
    ec_datagram_t *datagram = fsm->datagram;
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   250
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   251
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
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   252
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   253
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   254
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
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diff changeset
   255
            slave->error_flag = 1;
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   256
        fsm->state = ec_fsm_slave_config_state_error;
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diff changeset
   257
        return;
d83d92e1a919 Separated slave state machines.
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diff changeset
   258
    }
d83d92e1a919 Separated slave state machines.
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   259
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   260
    EC_SLAVE_DBG(slave, 1, "Now in INIT.\n");
830
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   261
d83d92e1a919 Separated slave state machines.
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   262
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1342
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diff changeset
   263
        ec_fsm_slave_config_enter_clear_sync(fsm);
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   264
        return;
d83d92e1a919 Separated slave state machines.
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diff changeset
   265
    }
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diff changeset
   266
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d9cf40facbc4 Improved syslog macros.
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diff changeset
   267
    EC_SLAVE_DBG(slave, 1, "Clearing FMMU configurations...\n");
830
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   268
d83d92e1a919 Separated slave state machines.
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   269
    // clear FMMU configurations
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   270
    ec_datagram_fpwr(datagram, slave->station_address,
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parents:
diff changeset
   271
            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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diff changeset
   272
    ec_datagram_zero(datagram);
830
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   273
    fsm->retries = EC_FSM_RETRIES;
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   274
    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
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   275
}
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   276
d83d92e1a919 Separated slave state machines.
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   277
/*****************************************************************************/
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   278
1064
5f27403587a8 Avoid duplicate reconfiguration.
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   279
/** Slave configuration state: CLEAR FMMU.
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   280
 */
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diff changeset
   281
void ec_fsm_slave_config_state_clear_fmmus(
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   282
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
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diff changeset
   283
        )
830
d83d92e1a919 Separated slave state machines.
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   284
{
d83d92e1a919 Separated slave state machines.
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   285
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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   286
d83d92e1a919 Separated slave state machines.
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   287
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   288
        return;
d83d92e1a919 Separated slave state machines.
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parents:
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   289
d83d92e1a919 Separated slave state machines.
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parents:
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   290
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   291
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   292
        EC_SLAVE_ERR(fsm->slave, "Failed receive FMMU clearing datagram.\n");
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   293
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   294
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   295
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   296
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   297
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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   298
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   299
        EC_SLAVE_ERR(fsm->slave, "Failed to clear FMMUs: ");
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   300
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   301
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   302
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   303
1342
a72b9b370277 Clear sync managers before configuration.
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   304
    ec_fsm_slave_config_enter_clear_sync(fsm);
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   305
}
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   306
a72b9b370277 Clear sync managers before configuration.
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   307
/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration.
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   308
a72b9b370277 Clear sync managers before configuration.
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   309
/** Clear the sync manager configurations.
a72b9b370277 Clear sync managers before configuration.
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   310
 */
a72b9b370277 Clear sync managers before configuration.
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   311
void ec_fsm_slave_config_enter_clear_sync(
a72b9b370277 Clear sync managers before configuration.
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   312
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a72b9b370277 Clear sync managers before configuration.
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   313
        )
a72b9b370277 Clear sync managers before configuration.
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   314
{
a72b9b370277 Clear sync managers before configuration.
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   315
    ec_slave_t *slave = fsm->slave;
a72b9b370277 Clear sync managers before configuration.
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   316
    ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration.
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   317
    size_t sync_size;
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   318
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
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diff changeset
   319
    if (!slave->base_sync_count) {
1404
b7ea043d5081 Minor changes.
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diff changeset
   320
        // no sync managers
1407
e3974f72d31e Improved DC configuration.
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diff changeset
   321
        ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1342
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   322
        return;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   323
    }
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   324
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1904
diff changeset
   325
    EC_SLAVE_DBG(slave, 1, "Clearing sync manager configurations...\n");
1344
e5756d4ed12c Debug message.
Florian Pose <fp@igh-essen.com>
parents: 1342
diff changeset
   326
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
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diff changeset
   327
    sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
1342
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   328
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   329
    // clear sync manager configurations
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   330
    ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
1896
1d4bca6ba543 Use ec_datagram_zero() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1889
diff changeset
   331
    ec_datagram_zero(datagram);
1342
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   332
    fsm->retries = EC_FSM_RETRIES;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   333
    fsm->state = ec_fsm_slave_config_state_clear_sync;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   334
}
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   335
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   336
/*****************************************************************************/
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   337
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   338
/** Slave configuration state: CLEAR SYNC.
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   339
 */
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   340
void ec_fsm_slave_config_state_clear_sync(
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   341
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   342
        )
a72b9b370277 Clear sync managers before configuration.
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diff changeset
   343
{
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   344
    ec_datagram_t *datagram = fsm->datagram;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   345
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   346
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   347
        return;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   348
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   349
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   350
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   351
        EC_SLAVE_ERR(fsm->slave, "Failed receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   352
                " clearing datagram.\n");
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   353
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   354
    }
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   355
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   356
    if (datagram->working_counter != 1) {
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   357
        fsm->slave->error_flag = 1;
a72b9b370277 Clear sync managers before configuration.
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parents: 1338
diff changeset
   358
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   359
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   360
                "Failed to clear sync manager configurations: ");
1342
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   361
        ec_datagram_print_wc_error(datagram);
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   362
        return;
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   363
    }
a72b9b370277 Clear sync managers before configuration.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
   364
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   365
    ec_fsm_slave_config_enter_dc_clear_assign(fsm);
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   366
}
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   367
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   368
/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   369
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   370
/** Clear the DC assignment.
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   371
 */
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   372
void ec_fsm_slave_config_enter_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   373
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   374
        )
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   375
{
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   376
    ec_slave_t *slave = fsm->slave;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   377
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   378
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
   379
    if (!slave->base_dc_supported || !slave->has_dc_system_time) {
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   380
        ec_fsm_slave_config_enter_mbox_sync(fsm);
8686c5b3d14b Clear DC assignment after going to INIT.
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parents: 1404
diff changeset
   381
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   382
    }
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   383
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   384
    EC_SLAVE_DBG(slave, 1, "Clearing DC assignment...\n");
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   385
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   386
    ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   387
    ec_datagram_zero(datagram);
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   388
    fsm->retries = EC_FSM_RETRIES;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   389
    fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   390
}
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   391
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   392
/*****************************************************************************/
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   393
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   394
/** Slave configuration state: CLEAR DC ASSIGN.
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   395
 */
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   396
void ec_fsm_slave_config_state_dc_clear_assign(
1406
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   397
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   398
        )
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   399
{
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   400
    ec_datagram_t *datagram = fsm->datagram;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   401
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   402
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   403
        return;
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   404
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   405
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8686c5b3d14b Clear DC assignment after going to INIT.
Florian Pose <fp@igh-essen.com>
parents: 1404
diff changeset
   406
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   407
        EC_SLAVE_ERR(fsm->slave, "Failed receive DC assignment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   408
                " clearing datagram.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   409
        return;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   410
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   411
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   412
    if (datagram->working_counter != 1) {
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   413
        // clearing the DC assignment does not succeed on simple slaves
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   414
        EC_SLAVE_DBG(fsm->slave, 1, "Failed to clear DC assignment: ");
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   415
        ec_datagram_print_wc_error(datagram);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   416
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   417
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   423
/** Check for mailbox sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   424
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
void ec_fsm_slave_config_enter_mbox_sync(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
    // slave is now in INIT
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   436
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   440
    if (!slave->sii.mailbox_protocols) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
        // no mailbox protocols supported
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   442
        EC_SLAVE_DBG(slave, 1, "Slave does not support"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   443
                " mailbox communication.\n");
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   444
#ifdef EC_SII_ASSIGN
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   445
        ec_fsm_slave_config_enter_assign_pdi(fsm);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   446
#else
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   447
        ec_fsm_slave_config_enter_boot_preop(fsm);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   448
#endif
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   452
    EC_SLAVE_DBG(slave, 1, "Configuring mailbox sync managers...\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   454
    if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   455
        ec_sync_t sync;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   456
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   457
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   458
                EC_SYNC_PAGE_SIZE * 2);
1896
1d4bca6ba543 Use ec_datagram_zero() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1889
diff changeset
   459
        ec_datagram_zero(datagram);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   460
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   461
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   462
        sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   463
        sync.control_register = 0x26;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   464
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   465
        ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   466
                EC_DIR_INVALID, // use default direction
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
   467
                0, // no PDO xfer
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   468
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   469
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   470
            slave->sii.boot_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   471
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   472
            slave->sii.boot_rx_mailbox_size;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   473
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   474
        ec_sync_init(&sync, slave);
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   475
        sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   476
        sync.control_register = 0x22;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   477
        sync.enable = 1;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   478
        ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   479
                EC_DIR_INVALID, // use default direction
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
   480
                0, // no PDO xfer
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   481
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   482
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   483
            slave->sii.boot_tx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   484
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   485
            slave->sii.boot_tx_mailbox_size;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   486
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   487
    } else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   489
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   490
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
        for (i = 0; i < 2; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   493
            ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   494
                    slave->sii.syncs[i].default_length,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   495
                    NULL, // use default sync manager configuration
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
   496
                    0, // no PDO xfer
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        }
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   499
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   500
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   501
            slave->sii.syncs[0].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   502
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   503
            slave->sii.syncs[0].default_length;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   504
        slave->configured_tx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   505
            slave->sii.syncs[1].physical_start_address;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   506
        slave->configured_tx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   507
            slave->sii.syncs[1].default_length;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
    } else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
        ec_sync_t sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   511
        EC_SLAVE_DBG(slave, 1, "Slave does not provide"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   512
                " mailbox sync manager configurations.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
                EC_SYNC_PAGE_SIZE * 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
   516
        ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   518
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   519
        sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
        sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   522
        ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   523
                NULL, // use default sync manager configuration
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
   524
                0, // no PDO xfer
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   525
                datagram->data);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   526
        slave->configured_rx_mailbox_offset =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   527
            slave->sii.std_rx_mailbox_offset;
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   528
        slave->configured_rx_mailbox_size =
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   529
            slave->sii.std_rx_mailbox_size;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   530
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   531
        ec_sync_init(&sync, slave);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   532
        sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
        sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
        sync.enable = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   535
        ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   536
                NULL, // use default sync manager configuration
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
   537
                0, // no PDO xfer
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   538
                datagram->data + EC_SYNC_PAGE_SIZE);
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   539
        slave->configured_tx_mailbox_offset =
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   540
            slave->sii.std_tx_mailbox_offset;
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   541
        slave->configured_tx_mailbox_size =
1471
2ec173081b7f Fixed mailbox usage for slaves that do not provide sync manager
Florian Pose <fp@igh-essen.com>
parents: 1458
diff changeset
   542
            slave->sii.std_tx_mailbox_size;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   545
    fsm->take_time = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   546
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
    fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   553
/** Slave configuration state: SYNC.
1345
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   554
 *
Florian Pose <fp@igh-essen.com>
parents: 1344
diff changeset
   555
 * \todo Timeout for response.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   556
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   557
void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   558
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   559
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   569
        EC_SLAVE_ERR(slave, "Failed to receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   570
                " configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
   571
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   575
    if (fsm->take_time) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   576
        fsm->take_time = 0;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   577
        fsm->jiffies_start = datagram->jiffies_sent;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   578
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   579
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   580
    /* Because the sync manager configurations are cleared during the last
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   581
     * cycle, some slaves do not immediately respond to the mailbox sync
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   582
     * manager configuration datagram. Therefore, resend the datagram for
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   583
     * a certain time, if the slave does not respond.
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   584
     */
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   585
    if (datagram->working_counter == 0) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   586
        unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   587
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   588
        if (diff >= HZ) {
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   589
            slave->error_flag = 1;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   590
            fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   591
            EC_SLAVE_ERR(slave, "Timeout while configuring"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   592
                    " mailbox sync managers.\n");
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   593
            return;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   594
        } else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   595
            EC_SLAVE_DBG(slave, 1, "Resending after %u ms...\n",
1347
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   596
                    (unsigned int) diff * 1000 / HZ);
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   597
        }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   598
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   599
        // send configuration datagram again
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   600
        fsm->retries = EC_FSM_RETRIES;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   601
        return;
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   602
    }
41360ffdcb14 Allow the slave to not respond to the mailbox sync manager configuration
Florian Pose <fp@igh-essen.com>
parents: 1345
diff changeset
   603
    else if (datagram->working_counter != 1) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   606
        EC_SLAVE_ERR(slave, "Failed to set sync managers: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   607
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   611
#ifdef EC_SII_ASSIGN
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   612
    ec_fsm_slave_config_enter_assign_pdi(fsm);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   613
#else
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   614
    ec_fsm_slave_config_enter_boot_preop(fsm);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   615
#endif
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   616
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   617
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   618
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   619
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   620
#ifdef EC_SII_ASSIGN
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   621
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   622
/** Assign SII to PDI.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   623
 */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   624
void ec_fsm_slave_config_enter_assign_pdi(
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   625
        ec_fsm_slave_config_t *fsm /**< slave state machine */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   626
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   627
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   628
    ec_datagram_t *datagram = fsm->datagram;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   629
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   630
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   631
    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   632
        EC_SLAVE_DBG(slave, 1, "Assigning SII access to PDI.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   633
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   634
        ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 0x01);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   635
        EC_WRITE_U8(datagram->data, 0x01); // PDI
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   636
        fsm->retries = EC_FSM_RETRIES;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   637
        fsm->state = ec_fsm_slave_config_state_assign_pdi;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   638
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   639
    else {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   640
        ec_fsm_slave_config_enter_boot_preop(fsm);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   641
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   642
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   643
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   644
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   645
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   646
/** Slave configuration state: ASSIGN_PDI.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   647
 */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   648
void ec_fsm_slave_config_state_assign_pdi(
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   649
        ec_fsm_slave_config_t *fsm /**< slave state machine */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   650
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   651
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   652
    ec_datagram_t *datagram = fsm->datagram;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   653
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   654
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   655
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   656
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   657
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   658
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   659
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   660
        EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   661
        ec_datagram_print_state(datagram);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   662
        goto cont_preop;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   663
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   664
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   665
    if (datagram->working_counter != 1) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   666
        EC_SLAVE_WARN(slave, "Failed to assign SII to PDI: ");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   667
        ec_datagram_print_wc_error(datagram);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   668
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   669
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   670
cont_preop:
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   671
    ec_fsm_slave_config_enter_boot_preop(fsm);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   672
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   673
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   674
#endif
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   678
/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   679
 */
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   680
void ec_fsm_slave_config_enter_boot_preop(
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   681
        ec_fsm_slave_config_t *fsm /**< slave state machine */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   682
        )
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   683
{
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   684
    fsm->state = ec_fsm_slave_config_state_boot_preop;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   685
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   686
    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   687
        ec_fsm_change_start(fsm->fsm_change,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   688
                fsm->slave, EC_SLAVE_STATE_PREOP);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   689
    } else { // BOOT
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   690
        ec_fsm_change_start(fsm->fsm_change,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   691
                fsm->slave, EC_SLAVE_STATE_BOOT);
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   692
    }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   693
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   694
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   699
/** Slave configuration state: BOOT/PREOP.
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   700
 */
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   701
void ec_fsm_slave_config_state_boot_preop(
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   702
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   703
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   707
    if (ec_fsm_change_exec(fsm->fsm_change)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   708
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   709
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   710
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   711
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   712
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   718
    // slave is now in BOOT or PREOP
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
    slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   721
    EC_SLAVE_DBG(slave, 1, "Now in %s.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   722
            slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   724
#ifdef EC_SII_ASSIGN
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   725
    EC_SLAVE_DBG(slave, 1, "Assigning SII access back to EtherCAT.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   726
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   727
    ec_datagram_fpwr(fsm->datagram, slave->station_address, 0x0500, 0x01);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   728
    EC_WRITE_U8(fsm->datagram->data, 0x00); // EtherCAT
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   729
    fsm->retries = EC_FSM_RETRIES;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   730
    fsm->state = ec_fsm_slave_config_state_assign_ethercat;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   731
#else
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   734
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   738
    ec_fsm_slave_config_enter_sdo_conf(fsm);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   739
#endif
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   740
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   741
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   742
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   743
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   744
#ifdef EC_SII_ASSIGN
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   745
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   746
/** Slave configuration state: ASSIGN_ETHERCAT.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   747
 */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   748
void ec_fsm_slave_config_state_assign_ethercat(
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   749
        ec_fsm_slave_config_t *fsm /**< slave state machine */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   750
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   751
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   752
    ec_datagram_t *datagram = fsm->datagram;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   753
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   754
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   755
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   756
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   757
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   758
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   759
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   760
        EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   761
        ec_datagram_print_state(datagram);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   762
        goto cont_sdo_conf;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   763
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   764
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   765
    if (datagram->working_counter != 1) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   766
        EC_SLAVE_WARN(slave, "Failed to assign SII back to EtherCAT: ");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   767
        ec_datagram_print_wc_error(datagram);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   768
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   769
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   770
cont_sdo_conf:
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   771
    if (slave->current_state == slave->requested_state) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   772
        fsm->state = ec_fsm_slave_config_state_end; // successful
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   773
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   774
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   775
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   776
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   777
    ec_fsm_slave_config_enter_sdo_conf(fsm);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   778
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   779
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   780
#endif
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   781
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   782
/*****************************************************************************/
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   783
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   784
/** Check for SDO configurations to be applied.
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   785
 */
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   786
void ec_fsm_slave_config_enter_sdo_conf(
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   787
        ec_fsm_slave_config_t *fsm /**< slave state machine */
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   788
        )
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   789
{
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   790
    ec_slave_t *slave = fsm->slave;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   791
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
    if (!slave->config) {
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   793
        ec_fsm_slave_config_enter_pdo_sync(fsm);
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   794
        return;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
   795
    }
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   796
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   797
    // No CoE configuration to be applied?
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   798
    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   799
        ec_fsm_slave_config_enter_soe_conf_preop(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   800
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   802
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   803
    // start SDO configuration
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
    fsm->state = ec_fsm_slave_config_state_sdo_conf;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   805
    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   806
            ec_sdo_request_t, list);
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   807
    ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   808
    ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   809
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   810
    ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   812
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   813
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   814
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   815
/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   816
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   818
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
{
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   821
    if (ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   822
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   823
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   824
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   825
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   826
        EC_SLAVE_ERR(fsm->slave, "SDO configuration failed.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   827
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   828
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   829
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   830
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   832
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   833
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   834
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   835
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   836
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   837
    // Another SDO to configure?
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   838
    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   839
        fsm->request = list_entry(fsm->request->list.next,
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   840
                ec_sdo_request_t, list);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   841
        ec_sdo_request_copy(&fsm->request_copy, fsm->request);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   842
        ecrt_sdo_request_write(&fsm->request_copy);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   843
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   844
        ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   845
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   848
    // All SDOs are now configured.
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   849
    ec_fsm_slave_config_enter_soe_conf_preop(fsm);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   850
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   851
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   852
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   853
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   854
/** Check for SoE configurations to be applied.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   855
 */
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   856
void ec_fsm_slave_config_enter_soe_conf_preop(
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   857
        ec_fsm_slave_config_t *fsm /**< slave state machine */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   858
        )
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   859
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   860
    ec_slave_t *slave = fsm->slave;
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   861
    ec_soe_request_t *req;
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   862
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   863
    if (!slave->config) {
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   864
        ec_fsm_slave_config_enter_pdo_sync(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   865
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   866
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   867
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   868
    list_for_each_entry(req, &slave->config->soe_configs, list) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   869
        if (req->al_state == EC_AL_STATE_PREOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   870
            // start SoE configuration
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   871
            fsm->state = ec_fsm_slave_config_state_soe_conf_preop;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   872
            fsm->soe_request = req;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   873
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   874
            ec_soe_request_write(&fsm->soe_request_copy);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   875
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   876
                    &fsm->soe_request_copy);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   877
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   878
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   879
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   880
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   881
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   882
    // No SoE configuration to be applied in PREOP
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   883
    ec_fsm_slave_config_enter_pdo_conf(fsm);
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   884
}
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   885
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   886
/*****************************************************************************/
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   887
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   888
/** Slave configuration state: SOE_CONF.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   889
 */
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   890
void ec_fsm_slave_config_state_soe_conf_preop(
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   891
        ec_fsm_slave_config_t *fsm /**< slave state machine */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   892
        )
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   893
{
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   894
    ec_slave_t *slave = fsm->slave;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   895
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   896
    if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   897
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   898
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   899
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   900
    if (!ec_fsm_soe_success(fsm->fsm_soe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   901
        EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   902
        fsm->slave->error_flag = 1;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   903
        fsm->state = ec_fsm_slave_config_state_error;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   904
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   905
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   906
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   907
    if (!fsm->slave->config) { // config removed in the meantime
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   908
        ec_fsm_slave_config_reconfigure(fsm);
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   909
        return;
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   910
    }
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   911
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   912
    // Another IDN to configure in PREOP?
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   913
    while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   914
        fsm->soe_request = list_entry(fsm->soe_request->list.next,
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   915
                ec_soe_request_t, list);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   916
        if (fsm->soe_request->al_state == EC_AL_STATE_PREOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   917
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   918
            ec_soe_request_write(&fsm->soe_request_copy);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   919
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   920
                    &fsm->soe_request_copy);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   921
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   922
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   923
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   924
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   925
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
   926
    // All PREOP IDNs are now configured.
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   927
    ec_fsm_slave_config_enter_pdo_conf(fsm);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   928
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   929
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   930
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   931
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   932
/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   933
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   934
void ec_fsm_slave_config_enter_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   935
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   936
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   937
{
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   938
    // Start configuring PDOs
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   939
    ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   940
    fsm->state = ec_fsm_slave_config_state_pdo_conf;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   941
    fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   942
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   943
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   944
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   945
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   946
/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   947
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   948
void ec_fsm_slave_config_state_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   949
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   950
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   951
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1491
diff changeset
   952
    // TODO check for config here
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
   953
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   954
    if (ec_fsm_pdo_exec(fsm->fsm_pdo, fsm->datagram)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   955
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   956
    }
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   957
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   958
    if (!fsm->slave->config) { // config removed in the meantime
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   959
        ec_fsm_slave_config_reconfigure(fsm);
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   960
        return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   961
    }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
   962
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   963
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   964
        EC_SLAVE_WARN(fsm->slave, "PDO configuration failed.\n");
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   965
    }
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   966
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   967
    ec_fsm_slave_config_enter_watchdog_divider(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   968
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   969
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   970
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   971
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   972
/** WATCHDOG_DIVIDER entry function.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   973
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   974
void ec_fsm_slave_config_enter_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   975
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   976
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   977
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   978
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   979
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   980
    ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   981
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   982
    if (config && config->watchdog_divider) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   983
        EC_SLAVE_DBG(slave, 1, "Setting watchdog divider to %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
   984
                config->watchdog_divider);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   985
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   986
        ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   987
        EC_WRITE_U16(datagram->data, config->watchdog_divider);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   988
        fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   989
        fsm->state = ec_fsm_slave_config_state_watchdog_divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   990
    } else {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   991
        ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   992
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   993
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   994
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   995
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   996
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   997
/** Slave configuration state: WATCHDOG_DIVIDER.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   998
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   999
void ec_fsm_slave_config_state_watchdog_divider(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1000
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1001
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1002
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1003
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1004
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1005
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1006
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1007
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1008
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1009
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1010
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1011
        EC_SLAVE_ERR(slave, "Failed to receive watchdog divider"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1012
                " configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1013
        ec_datagram_print_state(datagram);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1014
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1015
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1016
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1017
    if (datagram->working_counter != 1) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1018
        slave->error_flag = 1;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1019
        EC_SLAVE_WARN(slave, "Failed to set watchdog divider: ");
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1020
        ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1021
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1022
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1023
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1024
    ec_fsm_slave_config_enter_watchdog(fsm);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1025
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1026
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1027
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1028
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1029
/** WATCHDOG entry function
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1030
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1031
void ec_fsm_slave_config_enter_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1032
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1033
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1034
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1035
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1036
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1037
    ec_slave_config_t *config = slave->config;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1038
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1039
    if (config && config->watchdog_intervals) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1040
        EC_SLAVE_DBG(slave, 1, "Setting process data"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1041
                " watchdog intervals to %u.\n", config->watchdog_intervals);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1042
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1043
        ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1044
        EC_WRITE_U16(datagram->data, config->watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1045
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1046
        fsm->retries = EC_FSM_RETRIES;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1047
        fsm->state = ec_fsm_slave_config_state_watchdog;
1520
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1048
    } else {
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1049
        ec_fsm_slave_config_enter_pdo_sync(fsm);
09cf61d61af0 Fixed setting watchdog intervals.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1050
    }
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1051
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1052
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1053
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1054
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1055
/** Slave configuration state: WATCHDOG.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1056
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1057
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1058
void ec_fsm_slave_config_state_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1059
        ec_fsm_slave_config_t *fsm /**< slave state machine */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1060
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1061
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1062
    ec_datagram_t *datagram = fsm->datagram;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1063
    ec_slave_t *slave = fsm->slave;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1064
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1065
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1066
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1067
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1068
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1069
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1070
        EC_SLAVE_ERR(slave, "Failed to receive sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1071
                " watchdog configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1072
        ec_datagram_print_state(datagram);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1073
        return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1074
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1075
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1076
    if (datagram->working_counter != 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1077
        EC_SLAVE_WARN(slave, "Failed to set process data"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1078
                " watchdog intervals: ");
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1079
        ec_datagram_print_wc_error(datagram);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1080
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1081
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1082
    ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1083
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1084
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1085
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1086
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1087
/** Check for PDO sync managers to be configured.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1088
 */
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1089
void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1090
        ec_fsm_slave_config_t *fsm /**< slave state machine */
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1091
        )
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1092
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1093
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1094
    ec_datagram_t *datagram = fsm->datagram;
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1095
    unsigned int i, j, offset, num_pdo_syncs;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1096
    uint8_t sync_index;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1097
    const ec_sync_t *sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1098
    uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1099
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1100
    if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1101
        offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1102
    } else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1103
        offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1104
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1105
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1106
    if (slave->sii.sync_count <= offset) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1107
        // no PDO sync managers to configure
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
  1108
        ec_fsm_slave_config_enter_fmmu(fsm);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1109
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1110
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1111
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1112
    num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1113
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1114
    // configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1115
    ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1116
            0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1117
            EC_SYNC_PAGE_SIZE * num_pdo_syncs);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
  1118
    ec_datagram_zero(datagram);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1119
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1120
    for (i = 0; i < num_pdo_syncs; i++) {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1121
        const ec_sync_config_t *sync_config;
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1122
        uint8_t pdo_xfer = 0;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1123
        sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1124
        sync = &slave->sii.syncs[sync_index];
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1125
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1126
        if (slave->config) {
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1127
            const ec_slave_config_t *sc = slave->config;
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1128
            sync_config = &sc->sync_configs[sync_index];
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1129
            size = ec_pdo_list_total_size(&sync_config->pdos);
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1130
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1131
            // determine, if PDOs shall be transferred via this SM
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1132
            // inthat case, enable sync manager in every case
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1133
            for (j = 0; j < sc->used_fmmus; j++) {
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1134
                if (sc->fmmu_configs[j].sync_index == sync_index) {
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1135
                    pdo_xfer = 1;
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1136
                    break;
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1137
                }
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1138
            }
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1139
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1140
        } else {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1141
            sync_config = NULL;
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1142
            size = sync->default_length;
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1143
        }
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1144
2149
98e1e773bed0 Always enable a sync manager, if there are registered PDOs conatined (and it
Florian Pose <fp@igh-essen.com>
parents: 2045
diff changeset
  1145
        ec_sync_page(sync, sync_index, size, sync_config, pdo_xfer,
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1146
                datagram->data + EC_SYNC_PAGE_SIZE * i);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1147
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1148
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1149
    fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1150
    fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1151
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1152
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1153
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1154
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1155
/** Configure PDO sync managers.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1156
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1157
void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1158
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1159
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1160
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1161
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1162
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1163
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1164
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1165
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1166
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1167
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1168
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1169
        EC_SLAVE_ERR(slave, "Failed to receive process data sync"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1170
                " manager configuration datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1171
        ec_datagram_print_state(datagram);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1172
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1173
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1174
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1175
    if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1176
        slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1177
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1178
        EC_SLAVE_ERR(slave, "Failed to set process data sync managers: ");
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1179
        ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1180
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1181
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1182
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
    ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1184
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1186
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1187
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1188
/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1189
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1190
void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1191
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1192
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1193
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1196
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
    const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
    const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1199
1491
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1200
    if (!slave->config) {
40529f2f60bd Configure PDO sync managers even if no configuration has been applied.
Florian Pose <fp@igh-essen.com>
parents: 1471
diff changeset
  1201
        ec_fsm_slave_config_enter_safeop(fsm);
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1202
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1203
    }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1204
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1205
    if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1206
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1207
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1208
        EC_SLAVE_ERR(slave, "Slave has less FMMUs (%u)"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1209
                " than requested (%u).\n", slave->base_fmmu_count,
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1210
                slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1211
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1212
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1213
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1214
    if (!slave->base_fmmu_count) { // skip FMMU configuration
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1215
        ec_fsm_slave_config_enter_dc_cycle(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1216
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1217
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1218
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1219
    // configure FMMUs
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1220
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1221
                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1180
diff changeset
  1222
    ec_datagram_zero(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1223
    for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1224
        fmmu = &slave->config->fmmu_configs[i];
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
  1225
        if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1226
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1227
            fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1228
            EC_SLAVE_ERR(slave, "Failed to determine PDO sync manager"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1229
                    " for FMMU!\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1230
            return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
        ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
                datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1235
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1237
    fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1238
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1239
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1240
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1242
/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1243
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1244
void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1245
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1246
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1247
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1248
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1249
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1250
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1251
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1252
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1253
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1254
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1255
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1256
        EC_SLAVE_ERR(slave, "Failed to receive FMMUs datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1257
        ec_datagram_print_state(datagram);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1258
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1260
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1261
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1262
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1263
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1264
        EC_SLAVE_ERR(slave, "Failed to set FMMUs: ");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1269
    ec_fsm_slave_config_enter_dc_cycle(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1270
}
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1271
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1272
/*****************************************************************************/
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1273
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1274
/** Check for DC to be configured.
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1275
 */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1276
void ec_fsm_slave_config_enter_dc_cycle(
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1277
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1278
        )
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1279
{
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1280
    ec_datagram_t *datagram = fsm->datagram;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1281
    ec_slave_t *slave = fsm->slave;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1282
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1283
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1284
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1285
        ec_fsm_slave_config_reconfigure(fsm);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1286
        return;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1287
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1288
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1289
    if (config->dc_assign_activate) {
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 1412
diff changeset
  1290
        if (!slave->base_dc_supported || !slave->has_dc_system_time) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1291
            EC_SLAVE_WARN(slave, "Slave seems not to support"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1292
                    " distributed clocks!\n");
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1293
        }
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1294
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1295
        EC_SLAVE_DBG(slave, 1, "Setting DC cycle times to %u / %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1296
                config->dc_sync[0].cycle_time, config->dc_sync[1].cycle_time);
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1297
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1298
        // set DC cycle times
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1299
        ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1300
        EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1301
        EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1302
        fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1303
        fsm->state = ec_fsm_slave_config_state_dc_cycle;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1304
    } else {
1404
b7ea043d5081 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1305
        // DC are unused
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1306
        ec_fsm_slave_config_enter_safeop(fsm);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1307
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1308
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1309
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1310
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1311
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1312
/** Slave configuration state: DC CYCLE.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1313
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1314
void ec_fsm_slave_config_state_dc_cycle(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1315
        ec_fsm_slave_config_t *fsm /**< slave state machine */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1316
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1317
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1318
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1319
    ec_slave_t *slave = fsm->slave;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1320
    ec_slave_config_t *config = slave->config;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1321
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1322
    if (!config) { // config removed in the meantime
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1323
        ec_fsm_slave_config_reconfigure(fsm);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1324
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1325
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1326
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1327
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1328
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1329
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1330
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1331
        fsm->state = ec_fsm_slave_config_state_error;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1332
        EC_SLAVE_ERR(slave, "Failed to receive DC cycle times datagram: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1333
        ec_datagram_print_state(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1334
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1335
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1336
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1337
    if (datagram->working_counter != 1) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1338
        slave->error_flag = 1;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1339
        fsm->state = ec_fsm_slave_config_state_error;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1340
        EC_SLAVE_ERR(slave, "Failed to set DC cycle times: ");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1341
        ec_datagram_print_wc_error(datagram);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1342
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1343
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1344
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1345
    EC_SLAVE_DBG(slave, 1, "Checking for synchrony.\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1346
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1347
    fsm->jiffies_start = jiffies;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1348
    ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1349
    fsm->retries = EC_FSM_RETRIES;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1350
    fsm->state = ec_fsm_slave_config_state_dc_sync_check;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1351
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1352
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1353
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1354
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1355
/** Slave configuration state: DC SYNC CHECK.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1356
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1357
void ec_fsm_slave_config_state_dc_sync_check(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1358
        ec_fsm_slave_config_t *fsm /**< slave state machine */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1359
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1360
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1361
    ec_datagram_t *datagram = fsm->datagram;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1362
    ec_slave_t *slave = fsm->slave;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1363
    ec_master_t *master = slave->master;
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1364
    ec_slave_config_t *config = slave->config;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1365
    uint32_t abs_sync_diff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1366
    unsigned long diff_ms;
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1367
    ec_sync_signal_t *sync0 = &config->dc_sync[0];
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1368
    u64 start_time;
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1369
1412
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1370
    if (!config) { // config removed in the meantime
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1371
        ec_fsm_slave_config_reconfigure(fsm);
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1372
        return;
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1373
    }
8f7bbbd3b7ac DC shift time working.
Florian Pose <fp@igh-essen.com>
parents: 1407
diff changeset
  1374
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1375
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1376
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1377
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1378
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1379
        fsm->state = ec_fsm_slave_config_state_error;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1380
        EC_SLAVE_ERR(slave, "Failed to receive DC sync check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1520
diff changeset
  1381
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1382
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1383
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1384
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1385
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1386
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1387
        fsm->state = ec_fsm_slave_config_state_error;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1388
        EC_SLAVE_ERR(slave, "Failed to check DC synchrony: ");
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1389
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1390
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1391
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1392
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1393
    abs_sync_diff = EC_READ_U32(datagram->data) & 0x7fffffff;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1394
    diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1395
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1396
    if (abs_sync_diff > EC_DC_MAX_SYNC_DIFF_NS) {
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
  1397
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1398
        if (diff_ms >= EC_DC_SYNC_WAIT_MS) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1399
            EC_SLAVE_WARN(slave, "Slave did not sync after %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1400
                    diff_ms);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1401
        } else {
2608
ec0b5d9a2ff1 Reduce frequency of DC Sync debug messages
"Dave Page <dave.page@gleeble.com>"
parents: 2589
diff changeset
  1402
            static unsigned long last_diff_ms = 0;
ec0b5d9a2ff1 Reduce frequency of DC Sync debug messages
"Dave Page <dave.page@gleeble.com>"
parents: 2589
diff changeset
  1403
            if ((diff_ms < last_diff_ms) || (diff_ms >= (last_diff_ms + 100))) {
ec0b5d9a2ff1 Reduce frequency of DC Sync debug messages
"Dave Page <dave.page@gleeble.com>"
parents: 2589
diff changeset
  1404
                last_diff_ms = diff_ms;
ec0b5d9a2ff1 Reduce frequency of DC Sync debug messages
"Dave Page <dave.page@gleeble.com>"
parents: 2589
diff changeset
  1405
                EC_SLAVE_DBG(slave, 1, "Sync after %4lu ms: %10u ns\n",
ec0b5d9a2ff1 Reduce frequency of DC Sync debug messages
"Dave Page <dave.page@gleeble.com>"
parents: 2589
diff changeset
  1406
                        diff_ms, abs_sync_diff);
ec0b5d9a2ff1 Reduce frequency of DC Sync debug messages
"Dave Page <dave.page@gleeble.com>"
parents: 2589
diff changeset
  1407
            }
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
  1408
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1409
            // 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
  1410
            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
  1411
            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
  1412
            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
  1413
        }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1414
    } else {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1415
        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
  1416
                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
  1417
    }
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
  1418
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1419
    // 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
  1420
    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
  1421
    // 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
  1422
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
  1423
    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
  1424
        // 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
  1425
        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
  1426
            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
  1427
            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
  1428
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1429
            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
  1430
            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
  1431
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
  1432
            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
  1433
                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
  1434
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
  1435
            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
  1436
                    master->app_start_time);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1437
            EC_SLAVE_DBG(slave, 1, "      app_time=%llu\n", master->app_time);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1438
            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
  1439
            EC_SLAVE_DBG(slave, 1, "    cycle_time=%u\n", sync0->cycle_time);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1440
            EC_SLAVE_DBG(slave, 1, "    shift_time=%i\n", sync0->shift_time);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1441
            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
  1442
            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
  1443
            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
  1444
        } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1445
            EC_SLAVE_WARN(slave, "No application time supplied."
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1446
                    " 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
  1447
        }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1448
    }
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1430
diff changeset
  1449
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1450
    EC_SLAVE_DBG(slave, 1, "Setting DC cyclic operation"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1451
            " 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
  1452
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1453
    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
  1454
    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
  1455
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1456
    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
  1457
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1458
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1459
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1460
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1461
/** Slave configuration state: DC START.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1462
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1463
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
  1464
        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
  1465
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1466
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1467
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1468
    ec_slave_t *slave = fsm->slave;
1407
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1469
    ec_slave_config_t *config = slave->config;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1470
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1471
    if (!config) { // config removed in the meantime
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1472
        ec_fsm_slave_config_reconfigure(fsm);
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1473
        return;
e3974f72d31e Improved DC configuration.
Florian Pose <fp@igh-essen.com>
parents: 1406
diff changeset
  1474
    }
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1475
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1476
    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
  1477
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1478
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1479
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1480
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1481
        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
  1482
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1483
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1484
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1485
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1486
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1487
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1488
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1489
        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
  1490
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1491
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1492
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1493
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1494
    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
  1495
            config->dc_assign_activate);
1458
bba02b6a4492 Debugging output.
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
  1496
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1497
    // 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
  1498
    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
  1499
    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
  1500
    fsm->retries = EC_FSM_RETRIES;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1501
    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
  1502
}
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1503
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1504
/*****************************************************************************/
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1505
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1506
/** Slave configuration state: DC ASSIGN.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1507
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1508
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
  1509
        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
  1510
        )
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1511
{
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1512
    ec_datagram_t *datagram = fsm->datagram;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1513
    ec_slave_t *slave = fsm->slave;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1514
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1515
    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
  1516
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1517
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1518
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1519
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1520
        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
  1521
        ec_datagram_print_state(datagram);
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1522
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1523
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1524
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1525
    if (datagram->working_counter != 1) {
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1526
        slave->error_flag = 1;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1527
        fsm->state = ec_fsm_slave_config_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1528
        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
  1529
        ec_datagram_print_wc_error(datagram);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1530
        return;
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1531
    }
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1374
diff changeset
  1532
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1533
    ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1534
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1535
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1536
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1537
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1538
/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1539
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1540
void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1541
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1542
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1543
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1544
    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
  1545
    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
  1546
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1547
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1548
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1549
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1550
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1551
/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1552
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1553
void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1554
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1555
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1556
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1557
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1558
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1559
    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
  1560
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1561
    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
  1562
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1563
            fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1564
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1565
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1566
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1567
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1568
    // slave is now in SAFEOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1569
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1570
    EC_SLAVE_DBG(slave, 1, "Now in SAFEOP.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1571
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1572
    if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1573
        fsm->state = ec_fsm_slave_config_state_end; // successful
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1574
        EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1575
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1576
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1577
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1578
    ec_fsm_slave_config_enter_soe_conf_safeop(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1579
}
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1580
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1581
/*****************************************************************************/
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1582
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1583
/** Check for SoE configurations to be applied in SAFEOP.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1584
 */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1585
void ec_fsm_slave_config_enter_soe_conf_safeop(
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1586
        ec_fsm_slave_config_t *fsm /**< slave state machine */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1587
        )
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1588
{
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1589
    ec_slave_t *slave = fsm->slave;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1590
    ec_soe_request_t *req;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1591
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1592
    if (!slave->config) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1593
        ec_fsm_slave_config_enter_op(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1594
        return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1595
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1596
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1597
    list_for_each_entry(req, &slave->config->soe_configs, list) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1598
        if (req->al_state == EC_AL_STATE_SAFEOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1599
            // start SoE configuration
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1600
            fsm->state = ec_fsm_slave_config_state_soe_conf_safeop;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1601
            fsm->soe_request = req;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1602
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1603
            ec_soe_request_write(&fsm->soe_request_copy);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1604
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1605
                    &fsm->soe_request_copy);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1606
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1607
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1608
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1609
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1610
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1611
    // No SoE configuration to be applied in SAFEOP
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1612
    ec_fsm_slave_config_enter_op(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1613
}
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1614
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1615
/*****************************************************************************/
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1616
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1617
/** Slave configuration state: SOE_CONF.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1618
 */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1619
void ec_fsm_slave_config_state_soe_conf_safeop(
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1620
        ec_fsm_slave_config_t *fsm /**< slave state machine */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1621
        )
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1622
{
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1623
    ec_slave_t *slave = fsm->slave;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1624
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1625
    if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1626
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1627
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1628
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1629
    if (!ec_fsm_soe_success(fsm->fsm_soe)) {
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1630
        EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1631
        fsm->slave->error_flag = 1;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1632
        fsm->state = ec_fsm_slave_config_state_error;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1633
        return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1634
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1635
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1636
    if (!fsm->slave->config) { // config removed in the meantime
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1637
        ec_fsm_slave_config_reconfigure(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1638
        return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1639
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1640
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1641
    // Another IDN to configure in SAFEOP?
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1642
    while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1643
        fsm->soe_request = list_entry(fsm->soe_request->list.next,
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1644
                ec_soe_request_t, list);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1645
        if (fsm->soe_request->al_state == EC_AL_STATE_SAFEOP) {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1646
            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1647
            ec_soe_request_write(&fsm->soe_request_copy);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1648
            ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1649
                    &fsm->soe_request_copy);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
  1650
            ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1651
            return;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1652
        }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1653
    }
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1654
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1655
    // All SAFEOP IDNs are now configured.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1656
    ec_fsm_slave_config_enter_op(fsm);
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1657
}
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1658
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1659
/*****************************************************************************/
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1660
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1661
/** Bring slave to OP.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1662
 */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1663
void ec_fsm_slave_config_enter_op(
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1664
        ec_fsm_slave_config_t *fsm /**< slave state machine */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1665
        )
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1666
{
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1667
    // set state to OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1668
    fsm->state = ec_fsm_slave_config_state_op;
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1669
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_OP);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1670
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1671
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1672
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1673
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1674
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1675
/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1676
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1677
void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1678
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1679
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1680
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1681
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1682
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1683
    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
  1684
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
  1685
    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
  1686
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1687
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1688
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1689
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1690
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1691
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1692
    // slave is now in OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1693
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1694
    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
  1695
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1696
    fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1697
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1698
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1699
/*****************************************************************************/
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1700
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1701
/** 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
  1702
 */
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1703
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
  1704
        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
  1705
        )
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1706
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1707
    EC_SLAVE_DBG(fsm->slave, 1, "Slave configuration detached during "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1904
diff changeset
  1708
            "configuration. Reconfiguring.");
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1709
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1710
    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
  1711
}
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1277
diff changeset
  1712
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1713
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1714
 *  Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1715
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1716
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1717
/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1718
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1719
void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1720
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1721
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1722
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1723
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1724
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1725
/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1726
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1727
/** State: END.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1728
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1729
void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1730
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1731
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1732
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1733
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1734
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1735
/*****************************************************************************/