etherlabmaster: master/fsm.c@e675450f2174 (annotated)

238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	12	* License, or (at your option) any later version.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	31	*
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT finite state machines.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "fsm.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "master.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	void ec_fsm_master_start(ec_fsm_t *);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	48	void ec_fsm_master_broadcast(ec_fsm_t *);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	49	void ec_fsm_master_read_states(ec_fsm_t *);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	50	void ec_fsm_master_validate_vendor(ec_fsm_t *);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	51	void ec_fsm_master_validate_product(ec_fsm_t *);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	52	void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	53	void ec_fsm_master_configure_slave(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	54	void ec_fsm_master_scan_slaves(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	55	void ec_fsm_master_write_eeprom(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	56
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	57	void ec_fsm_startup_start(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	58	void ec_fsm_startup_broadcast(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	59	void ec_fsm_startup_scan(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	60
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	61	void ec_fsm_configuration_start(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	62	void ec_fsm_configuration_conf(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	63
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	64	void ec_fsm_slavescan_start(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	65	void ec_fsm_slavescan_address(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	66	void ec_fsm_slavescan_state(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	67	void ec_fsm_slavescan_base(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	68	void ec_fsm_slavescan_datalink(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	69	void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	70	void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	71
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	72	void ec_fsm_slaveconf_init(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	73	void ec_fsm_slaveconf_sync(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	74	void ec_fsm_slaveconf_preop(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	75	void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	76	void ec_fsm_slaveconf_saveop(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	77	void ec_fsm_slaveconf_op(ec_fsm_t *);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	78
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	void ec_fsm_sii_start_reading(ec_fsm_t *);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	80	void ec_fsm_sii_read_check(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	81	void ec_fsm_sii_read_fetch(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	82	void ec_fsm_sii_start_writing(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	83	void ec_fsm_sii_write_check(ec_fsm_t *);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	84	void ec_fsm_sii_write_check2(ec_fsm_t *);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	86	void ec_fsm_change_start(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	87	void ec_fsm_change_check(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	88	void ec_fsm_change_status(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	89	void ec_fsm_change_code(ec_fsm_t *);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	90	void ec_fsm_change_ack(ec_fsm_t *);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	91	void ec_fsm_change_check_ack(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	92
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	93	void ec_fsm_end(ec_fsm_t *);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	94	void ec_fsm_error(ec_fsm_t *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	95
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	97
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	98	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	99	Constructor.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	100	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	101
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	102	int ec_fsm_init(ec_fsm_t fsm, /< finite state machine /
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	103	ec_master_t master /< EtherCAT master /
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	104	)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	fsm->master = master;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	fsm->master_slaves_responding = 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	110	fsm->master_validation = 0;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	111
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	112	ec_datagram_init(&fsm->datagram);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	113	if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	114	EC_ERR("Failed to allocate FSM datagram.\n");
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	return -1;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	117
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	return 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	122
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	123	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	124	Destructor.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	125	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	126
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	127	void ec_fsm_clear(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	129	ec_datagram_clear(&fsm->datagram);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	131
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	133
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	134	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	135	Resets the state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	136	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	137
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	138	void ec_fsm_reset(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	fsm->master_slaves_responding = 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	146
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	147	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	148	Executes the current state of the state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	149	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	150
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	151	void ec_fsm_execute(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	fsm->master_state(fsm);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	156	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	157
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	158	void ec_fsm_startup(ec_fsm_t *fsm)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	159	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	160	fsm->master_state = ec_fsm_startup_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	161	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	162
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	163	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	164
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	165	int ec_fsm_startup_running(ec_fsm_t *fsm)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	166	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	167	return fsm->master_state != ec_fsm_end &&
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	168	fsm->master_state != ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	169	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	170
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	171	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	172
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	173	int ec_fsm_startup_success(ec_fsm_t *fsm)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	174	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	175	return fsm->master_state == ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	176	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	177
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	178	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	179
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	180	void ec_fsm_configuration(ec_fsm_t *fsm)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	181	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	182	fsm->master_state = ec_fsm_configuration_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	183	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	184
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	185	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	186
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	187	int ec_fsm_configuration_running(ec_fsm_t *fsm)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	188	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	189	return fsm->master_state != ec_fsm_end &&
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	190	fsm->master_state != ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	191	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	192
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	193	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	194
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	195	int ec_fsm_configuration_success(ec_fsm_t *fsm)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	196	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	197	return fsm->master_state == ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	198	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	199
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	/******************************************************************************
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	201	* master startup state machine
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	202	*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	203
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	204	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	205	Master state: START.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	206	Starts with getting slave count and slave states.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	207	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	208
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	209	void ec_fsm_startup_start(ec_fsm_t *fsm)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	210	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	211	ec_datagram_brd(&fsm->datagram, 0x0130, 2);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	212	ec_master_queue_datagram(fsm->master, &fsm->datagram);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	213	fsm->master_state = ec_fsm_startup_broadcast;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	214	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	215
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	216	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	217
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	218	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	219	Master state: BROADCAST.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	220	Processes the broadcast read slave count and slaves states.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	221	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	222
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	223	void ec_fsm_startup_broadcast(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	224	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	225	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	226	unsigned int i;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	227	ec_slave_t *slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	228	ec_master_t *master = fsm->master;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	229
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	230	if (datagram->state != EC_DATAGRAM_RECEIVED) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	231	EC_ERR("Failed tor receive broadcast datagram.\n");
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	232	fsm->master_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	233	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	234	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	235
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	236	EC_INFO("Scanning bus.\n");
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	237
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	238	ec_master_clear_slaves(master);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	239
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	240	master->slave_count = datagram->working_counter;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	241
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	242	if (!master->slave_count) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	243	// no slaves present -> finish state machine.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	244	fsm->master_state = ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	245	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	246	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	247
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	248	// init slaves
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	249	for (i = 0; i < master->slave_count; i++) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	250	if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	251	GFP_KERNEL))) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	252	EC_ERR("Failed to allocate slave %i!\n", i);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	253	fsm->master_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	254	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	255	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	256
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	257	if (ec_slave_init(slave, master, i, i + 1)) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	258	fsm->master_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	259	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	260	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	261
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	262	if (kobject_add(&slave->kobj)) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	263	EC_ERR("Failed to add kobject.\n");
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	264	kobject_put(&slave->kobj); // free
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	265	fsm->master_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	266	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	267	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	268
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	269	list_add_tail(&slave->list, &master->slaves);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	270	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	271
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	272	// begin scanning of slaves
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	273	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	274	fsm->slave_state = ec_fsm_slavescan_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	275	fsm->master_state = ec_fsm_startup_scan;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	276	fsm->master_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	277	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	278	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	279
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	280	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	281
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	282	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	283	Master state: SCAN.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	284	Executes the sub-statemachine for the scanning of a slave.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	285	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	286
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	287	void ec_fsm_startup_scan(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	288	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	289	ec_master_t *master = fsm->master;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	290	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	291
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	292	fsm->slave_state(fsm); // execute slave state machine
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	293
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	294	if (fsm->slave_state == ec_fsm_error) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	295	EC_ERR("Slave scanning failed.\n");
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	296	fsm->master_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	297	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	298	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	299
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	300	if (fsm->slave_state != ec_fsm_end) return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	301
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	302	// another slave to scan?
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	303	if (slave->list.next != &master->slaves) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	304	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	305	fsm->slave_state = ec_fsm_slavescan_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	306	fsm->slave_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	307	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	308	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	309
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	310	EC_INFO("Bus scanning completed.\n");
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	311
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	312	ec_master_calc_addressing(master);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	313
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	314	fsm->master_state = ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	315	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	316
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	317	/******************************************************************************
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	318	* master configuration state machine
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	319	*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	320
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	321	void ec_fsm_configuration_start(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	322	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	323	ec_master_t *master = fsm->master;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	324
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	325	if (list_empty(&master->slaves)) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	326	fsm->master_state = ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	327	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	328	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	329
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	330	// begin configuring slaves
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	331	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	332	fsm->slave_state = ec_fsm_slaveconf_init;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	333	fsm->change_new = EC_SLAVE_STATE_INIT;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	334	fsm->change_state = ec_fsm_change_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	335	fsm->master_state = ec_fsm_configuration_conf;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	336	fsm->master_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	337	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	338
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	339	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	340
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	341	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	342	Master state: CONF.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	343	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	344
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	345	void ec_fsm_configuration_conf(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	346	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	347	ec_master_t *master = fsm->master;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	348	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	349
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	350	fsm->slave_state(fsm); // execute slave's state machine
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	351
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	352	if (fsm->slave_state == ec_fsm_error) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	353	fsm->master_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	354	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	355	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	356
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	357	if (fsm->slave_state != ec_fsm_end) return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	358
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	359	// another slave to configure?
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	360	if (slave->list.next != &master->slaves) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	361	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	362	fsm->slave_state = ec_fsm_slaveconf_init;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	363	fsm->change_new = EC_SLAVE_STATE_INIT;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	364	fsm->change_state = ec_fsm_change_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	365	fsm->master_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	366	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	367	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	368
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	369	fsm->master_state = ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	370	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	371
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	372	/******************************************************************************
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	373	* operation / idle state machine
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	375
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	377	Master state: START.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	378	Starts with getting slave count and slave states.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	380
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	381	void ec_fsm_master_start(ec_fsm_t *fsm)
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	383	ec_datagram_brd(&fsm->datagram, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	384	ec_master_queue_datagram(fsm->master, &fsm->datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	385	fsm->master_state = ec_fsm_master_broadcast;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	386	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	387
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	388	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	389
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	390	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	391	Master state: BROADCAST.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	392	Processes the broadcast read slave count and slaves states.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	393	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	394
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	395	void ec_fsm_master_broadcast(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	396	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	397	ec_datagram_t *datagram = &fsm->datagram;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	398	unsigned int topology_change, states_change, i;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	ec_slave_t *slave;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	400	ec_master_t *master = fsm->master;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	401
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	402	if (datagram->state != EC_DATAGRAM_RECEIVED) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	403	if (!master->device->link_state) {
254 986afccca9ea Link down treated as topology change in state machine. Florian Pose <fp@igh-essen.com> parents: 251 diff changeset	404	fsm->master_slaves_responding = 0;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	405	list_for_each_entry(slave, &master->slaves, list) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	406	slave->online = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	407	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	408	}
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	409	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	413
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	414	topology_change = (datagram->working_counter !=
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	415	fsm->master_slaves_responding);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	416	states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	417
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	418	fsm->master_slave_states = EC_READ_U8(datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	419	fsm->master_slaves_responding = datagram->working_counter;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	420
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	421	if (topology_change) {
262 636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	422	EC_INFO("%i slave%s responding.\n",
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	423	fsm->master_slaves_responding,
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	424	fsm->master_slaves_responding == 1 ? "" : "s");
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	425
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	426	if (master->mode == EC_MASTER_MODE_OPERATION) {
262 636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	427	if (fsm->master_slaves_responding == master->slave_count) {
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	428	fsm->master_validation = 1; // start validation later
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	429	}
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	430	else {
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	431	EC_WARN("Invalid slave count. Bus in tainted state.\n");
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	432	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	433	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	434	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	435
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	436	if (states_change) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	437	char states[25];
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	438	ec_state_string(fsm->master_slave_states, states);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	439	EC_INFO("Slave states: %s.\n", states);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	440	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	441
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	442	// topology change in idle mode: clear all slaves and scan the bus
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	443	if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	444	EC_INFO("Scanning bus.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	445
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	446	ec_master_eoe_stop(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	447	ec_master_clear_slaves(master);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	448
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	449	master->slave_count = datagram->working_counter;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	450
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	451	if (!master->slave_count) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	452	// no slaves present -> finish state machine.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	453	fsm->master_state = ec_fsm_master_start;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	454	fsm->master_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	455	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	456	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	457
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	458	// init slaves
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	459	for (i = 0; i < master->slave_count; i++) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	460	if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	461	GFP_ATOMIC))) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	462	EC_ERR("Failed to allocate slave %i!\n", i);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	463	ec_master_clear_slaves(master);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	464	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	465	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	466	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	467	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	468
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	469	if (ec_slave_init(slave, master, i, i + 1)) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	470	// freeing of "slave" already done
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	471	ec_master_clear_slaves(master);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	472	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	473	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	474	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	475	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	476
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	477	if (kobject_add(&slave->kobj)) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	478	EC_ERR("Failed to add kobject.\n");
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	479	kobject_put(&slave->kobj); // free
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	480	ec_master_clear_slaves(master);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	481	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	482	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	483	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	484	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	485
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	486	list_add_tail(&slave->list, &master->slaves);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	487	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	488
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	489	// begin scanning of slaves
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	490	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	491	fsm->slave_state = ec_fsm_slavescan_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	492	fsm->master_state = ec_fsm_master_scan_slaves;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	493	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	494	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	495	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	496
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	497	// fetch state from each slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	498	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	499	ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	500	ec_master_queue_datagram(master, &fsm->datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	501	fsm->master_state = ec_fsm_master_read_states;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	502	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	503
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	504	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	505
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	506	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	507	Master action: PROC_STATES.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	508	Processes the slave states.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	509	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	510
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	511	void ec_fsm_master_action_process_states(ec_fsm_t *fsm
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	512	/*< finite state machine /
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	513	)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	514	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	515	ec_master_t *master = fsm->master;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	516	ec_slave_t *slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	517	char old_state[25], new_state[25];
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	518
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	519	// check if any slaves are not in the state, they're supposed to be
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	520	list_for_each_entry(slave, &master->slaves, list) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	521	if (slave->error_flag \|\|
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	522	!slave->online \|\|
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	523	slave->requested_state == EC_SLAVE_STATE_UNKNOWN \|\|
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	524	slave->current_state == slave->requested_state) continue;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	525
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	526	ec_state_string(slave->current_state, old_state);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	527	ec_state_string(slave->requested_state, new_state);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	528	EC_INFO("Changing state of slave %i from %s to %s.\n",
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	529	slave->ring_position, old_state, new_state);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	530
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	531	fsm->slave = slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	532	fsm->slave_state = ec_fsm_slaveconf_init;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	533	fsm->change_new = EC_SLAVE_STATE_INIT;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	534	fsm->change_state = ec_fsm_change_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	535	fsm->master_state = ec_fsm_master_configure_slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	536	fsm->master_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	537	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	538	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	539
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	540	// Check, if EoE processing has to be started
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	541	ec_master_eoe_start(master);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	542
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	543	if (master->mode == EC_MASTER_MODE_IDLE) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	544	// nothing to configure. check for pending EEPROM write operations.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	545	list_for_each_entry(slave, &master->slaves, list) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	546	if (!slave->new_eeprom_data) continue;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	547
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	548	if (!slave->online \|\| slave->error_flag) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	549	kfree(slave->new_eeprom_data);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	550	slave->new_eeprom_data = NULL;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	551	EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	552	slave->ring_position);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	553	continue;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	554	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	555
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	556	// found pending EEPROM write operation. execute it!
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	557	EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	558	fsm->sii_offset = 0x0000;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	559	memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	560	fsm->sii_mode = 1;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	561	fsm->sii_state = ec_fsm_sii_start_writing;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	562	fsm->slave = slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	563	fsm->master_state = ec_fsm_master_write_eeprom;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	564	fsm->master_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	565	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	566	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	567	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	568
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	569	// nothing to do. restart master state machine.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	570	fsm->master_state = ec_fsm_master_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	571	fsm->master_state(fsm); // execute immediately
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	572	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	573
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	574	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	575
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	576	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	577	Master action: Get state of next slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	578	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	579
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	580	void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	581	/*< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	582	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	583	ec_master_t *master = fsm->master;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	584	ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	585
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	586	// is there another slave to query?
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	587	if (slave->list.next != &master->slaves) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	588	// process next slave
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	589	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	590	ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	591	0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	592	ec_master_queue_datagram(master, &fsm->datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	593	fsm->master_state = ec_fsm_master_read_states;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	594	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	595	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	596
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	597	// all slave states read
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	598
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	599	// check, if a bus validation has to be done
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	600	if (fsm->master_validation) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	601	fsm->master_validation = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	602	list_for_each_entry(slave, &master->slaves, list) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	603	if (slave->online) continue;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	604
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	605	// At least one slave is offline. validate!
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	606	EC_INFO("Validating bus.\n");
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	607	fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	608	fsm->master_state = ec_fsm_master_validate_vendor;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	609	fsm->sii_offset = 0x0008; // vendor ID
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	610	fsm->sii_mode = 0;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	611	fsm->sii_state = ec_fsm_sii_start_reading;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	612	fsm->sii_state(fsm); // execute immediately
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	613	return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	614	}
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	615	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	616
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	617	ec_fsm_master_action_process_states(fsm);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	618	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	619
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	620	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	621
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	622	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	623	Master state: STATES.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	624	Fetches the AL- and online state of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	625	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	626
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	627	void ec_fsm_master_read_states(ec_fsm_t fsm /< finite state machine /)
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	628	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	629	ec_slave_t *slave = fsm->slave;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	630	ec_datagram_t *datagram = &fsm->datagram;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	631	uint8_t new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	632
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	633	if (datagram->state != EC_DATAGRAM_RECEIVED) {
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	634	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	635	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	638
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	639	// did the slave not respond to its station address?
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	640	if (datagram->working_counter != 1) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	641	if (slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	642	slave->online = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	643	EC_INFO("Slave %i: offline.\n", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	644	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	645	ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	646	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	647	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	648
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	649	// slave responded
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	650	new_state = EC_READ_U8(datagram->data);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	651	if (!slave->online) { // slave was offline before
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	652	char cur_state[25];
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	653	slave->online = 1;
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	654	slave->error_flag = 0; // clear error flag
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	655	slave->current_state = new_state;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	656	ec_state_string(slave->current_state, cur_state);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	657	EC_INFO("Slave %i: online (%s).\n", slave->ring_position, cur_state);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	658	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	659	else if (new_state != slave->current_state) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	660	char old_state[25], cur_state[25];
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	661	ec_state_string(slave->current_state, old_state);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	662	ec_state_string(new_state, cur_state);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	663	EC_INFO("Slave %i: %s -> %s.\n",
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	664	slave->ring_position, old_state, cur_state);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	665	slave->current_state = new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	666	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	667
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	668	ec_fsm_master_action_next_slave_state(fsm);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	669	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	670
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	671	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	672
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	673	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	674	Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	675	Validates the vendor ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	676	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	677
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	678	void ec_fsm_master_validate_vendor(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	679	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	680	ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	681
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	682	fsm->sii_state(fsm); // execute SII state machine
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	683
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	684	if (fsm->sii_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	685	fsm->slave->error_flag = 1;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	686	EC_ERR("Failed to validate vendor ID of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	687	slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	688	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	689	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	690	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	691	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	692
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	693	if (fsm->sii_state != ec_fsm_end) return;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	694
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	695	if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	696	EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	697	fsm->master_state = ec_fsm_master_start;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	698	fsm->master_state(fsm); // execute immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	699	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	700	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	701
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	702	// vendor ID is ok. check product code.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	703	fsm->master_state = ec_fsm_master_validate_product;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	704	fsm->sii_offset = 0x000A; // product code
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	705	fsm->sii_mode = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	706	fsm->sii_state = ec_fsm_sii_start_reading;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	707	fsm->sii_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	708	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	709
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	710	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	711
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	712	/**
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	713	Master action: ADDRESS.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	714	Looks for slave, that have lost their configuration and writes
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	715	their station address, so that they can be reconfigured later.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	716	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	717
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	718	void ec_fsm_master_action_addresses(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	719	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	720	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	721
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	722	while (fsm->slave->online) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	723	if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	724	fsm->master_state = ec_fsm_master_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	725	fsm->master_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	726	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	727	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	728	// check next slave
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	729	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	730	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	731
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	732	EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	733
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	734	// write station address
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	735	ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	736	EC_WRITE_U16(datagram->data, fsm->slave->station_address);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	737	ec_master_queue_datagram(fsm->master, datagram);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	738	fsm->master_state = ec_fsm_master_rewrite_addresses;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	739	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	740
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	741	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	742
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	743	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	744	Master state: VALIDATE_PRODUCT.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	745	Validates the product ID of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	746	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	747
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	748	void ec_fsm_master_validate_product(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	749	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	750	ec_slave_t *slave = fsm->slave;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	751
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	752	fsm->sii_state(fsm); // execute SII state machine
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	753
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	754	if (fsm->sii_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	755	fsm->slave->error_flag = 1;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	756	EC_ERR("Failed to validate product code of slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	757	slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	758	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	759	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	760	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	761	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	762
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	763	if (fsm->sii_state != ec_fsm_end) return;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	764
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	765	if (EC_READ_U32(fsm->sii_value) != slave->sii_product_code) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	766	EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	767	EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	768	EC_READ_U32(fsm->sii_value));
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	769	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	770	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	771	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	772	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	773
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	774	// have all states been validated?
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	775	if (slave->list.next == &fsm->master->slaves) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	776	fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	777	// start writing addresses to offline slaves
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	778	ec_fsm_master_action_addresses(fsm);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	779	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	780	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	781
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	782	// validate next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	783	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	784	fsm->master_state = ec_fsm_master_validate_vendor;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	785	fsm->sii_offset = 0x0008; // vendor ID
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	786	fsm->sii_mode = 0;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	787	fsm->sii_state = ec_fsm_sii_start_reading;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	788	fsm->sii_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	789	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	790
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	791	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	792
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	793	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	794	Master state: ADDRESS.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	795	Checks, if the new station address has been written to the slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	796	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	797
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	798	void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	799	/*< finite state machine /
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	800	)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	801	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	802	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	803	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	804
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	805	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	806	\|\| datagram->working_counter != 1) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	807	EC_ERR("Failed to write station address on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	808	slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	809	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	810
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	811	if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	812	fsm->master_state = ec_fsm_master_start;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	813	fsm->master_state(fsm); // execute immediately
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	814	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	815	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	816
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	817	// check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	818	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	819	// Write new station address to slave
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	820	ec_fsm_master_action_addresses(fsm);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	821	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	822
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	823	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	824
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	825	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	826	Master state: SCAN.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	827	Executes the sub-statemachine for the scanning of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	828	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	829
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	830	void ec_fsm_master_scan_slaves(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	831	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	832	ec_master_t *master = fsm->master;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	833	ec_slave_t *slave = fsm->slave;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	834
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	835
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	836	fsm->slave_state(fsm); // execute slave state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	837
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	838	if (fsm->slave_state != ec_fsm_end
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	839	&& fsm->slave_state != ec_fsm_error) return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	840
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	841	// another slave to fetch?
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	842	if (slave->list.next != &master->slaves) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	843	fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	844	fsm->slave_state = ec_fsm_slavescan_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	845	fsm->slave_state(fsm); // execute immediately
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	846	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	847	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	848
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	849	EC_INFO("Bus scanning completed.\n");
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	850
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	851	ec_master_calc_addressing(master);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	852
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	853	// determine initial states.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	854	list_for_each_entry(slave, &master->slaves, list) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	855	if (ec_slave_is_coupler(slave)) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	856	slave->requested_state = EC_SLAVE_STATE_OP;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	857	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	858	else {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	859	if (master->mode == EC_MASTER_MODE_OPERATION)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	860	slave->requested_state = EC_SLAVE_STATE_PREOP;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	861	else
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	862	slave->requested_state = EC_SLAVE_STATE_INIT;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	863	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	864	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	865
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	866	fsm->master_state = ec_fsm_master_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	867	fsm->master_state(fsm); // execute immediately
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	868	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	869
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	870	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	871
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	872	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	873	Master state: CONF.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	874	Starts configuring a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	875	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	876
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	877	void ec_fsm_master_configure_slave(ec_fsm_t *fsm
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	878	/*< finite state machine /
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	879	)
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	880	{
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	881	fsm->slave_state(fsm); // execute slave's state machine
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	882
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	883	if (fsm->slave_state != ec_fsm_end
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	884	&& fsm->slave_state != ec_fsm_error) return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	885
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	886	ec_fsm_master_action_process_states(fsm);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	887	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	888
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	889	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	890
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	891	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	892	Master state: EEPROM.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	893	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	894
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	895	void ec_fsm_master_write_eeprom(ec_fsm_t fsm /< finite state machine /)
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	896	{
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	897	ec_slave_t *slave = fsm->slave;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	898
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	899	fsm->sii_state(fsm); // execute SII state machine
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	900
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	901	if (fsm->sii_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	902	fsm->slave->error_flag = 1;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	903	EC_ERR("Failed to write EEPROM contents to slave %i.\n",
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	904	slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	905	kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	906	slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	907	fsm->master_state = ec_fsm_master_start;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	908	fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	909	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	910	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	911
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	912	if (fsm->sii_state != ec_fsm_end) return;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	913
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	914	fsm->sii_offset++;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	915	if (fsm->sii_offset < slave->new_eeprom_size) {
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	916	memcpy(fsm->sii_value, slave->new_eeprom_data + fsm->sii_offset, 2);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	917	fsm->sii_state = ec_fsm_sii_start_writing;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	918	fsm->sii_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	919	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	920	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	921
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	922	// finished writing EEPROM
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	923	EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	924	kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	925	slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	926
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	927	// TODO: Evaluate new EEPROM contents!
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	928
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	929	// restart master state machine.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	930	fsm->master_state = ec_fsm_master_start;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	931	fsm->master_state(fsm); // execute immediately
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	932	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	933	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	934
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	935	/******************************************************************************
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	936	* slave scan state machine
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	937	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	938
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	939	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	940	Slave state: START_READING.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	941	First state of the slave state machine. Writes the station address to the
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	942	slave, according to its ring position.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	943	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	944
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	945	void ec_fsm_slavescan_start(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	946	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	947	ec_datagram_t *datagram = &fsm->datagram;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	948
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	949	// write station address
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	950	ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	951	EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	952	ec_master_queue_datagram(fsm->master, datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	953	fsm->slave_state = ec_fsm_slavescan_address;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	954	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	955
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	956	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	957
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	958	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	959	Slave state: ADDRESS.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	960	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	961
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	962	void ec_fsm_slavescan_address(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	963	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	964	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	965
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	966	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	967	\|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	968	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	969	fsm->slave_state = ec_fsm_error;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	970	EC_ERR("Failed to write station address of slave %i.\n",
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	971	fsm->slave->ring_position);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	972	return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	973	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	974
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	975	// Read AL state
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	976	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	977	ec_master_queue_datagram(fsm->master, datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	978	fsm->slave_state = ec_fsm_slavescan_state;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	979	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	980
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	981	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	982
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	983	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	984	Slave state: STATE.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	985	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	986
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	987	void ec_fsm_slavescan_state(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	988	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	989	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	990	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	991
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	992	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	993	\|\| datagram->working_counter != 1) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	994	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	995	fsm->slave_state = ec_fsm_error;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	996	EC_ERR("Failed to read AL state of slave %i.\n",
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	997	fsm->slave->ring_position);
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	998	return;
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	999	}
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	1000
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1001	slave->current_state = EC_READ_U8(datagram->data);
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	1002	if (slave->current_state & EC_ACK) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1003	EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
255 6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	1004	slave->ring_position, slave->current_state);
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	1005	slave->current_state &= 0x0F;
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	1006	}
6b916cce7f27 Read current AL status of slaves while scanning bus. Florian Pose <fp@igh-essen.com> parents: 254 diff changeset	1007
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1008	// read base data
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1009	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1010	ec_master_queue_datagram(fsm->master, datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1011	fsm->slave_state = ec_fsm_slavescan_base;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1012	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1013
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1014	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1015
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1016	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1017	Slave state: BASE.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1018	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1019
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1020	void ec_fsm_slavescan_base(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1021	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1022	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1023	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1024
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1025	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1026	\|\| datagram->working_counter != 1) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1027	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1028	fsm->slave_state = ec_fsm_error;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1029	EC_ERR("Failed to read base data of slave %i.\n",
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1030	slave->ring_position);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1031	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1032	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1033
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1034	slave->base_type = EC_READ_U8 (datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1035	slave->base_revision = EC_READ_U8 (datagram->data + 1);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1036	slave->base_build = EC_READ_U16(datagram->data + 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1037	slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1038	slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1039
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1040	if (slave->base_fmmu_count > EC_MAX_FMMUS)
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1041	slave->base_fmmu_count = EC_MAX_FMMUS;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1042
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1043	// read data link status
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1044	ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1045	ec_master_queue_datagram(slave->master, datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1046	fsm->slave_state = ec_fsm_slavescan_datalink;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1047	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1048
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1049	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1050
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1051	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1052	Slave state: DATALINK.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1053	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1054
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1055	void ec_fsm_slavescan_datalink(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1056	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1057	ec_datagram_t *datagram = &fsm->datagram;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1058	ec_slave_t *slave = fsm->slave;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1059	uint16_t dl_status;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1060	unsigned int i;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1061
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1062	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1063	\|\| datagram->working_counter != 1) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1064	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1065	fsm->slave_state = ec_fsm_error;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1066	EC_ERR("Failed to read DL status of slave %i.\n",
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1067	slave->ring_position);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1068	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1069	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1070
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1071	dl_status = EC_READ_U16(datagram->data);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1072	for (i = 0; i < 4; i++) {
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1073	slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1074	slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1075	slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1076	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1077
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1078	// Start fetching EEPROM size
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1079
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1080	fsm->sii_offset = 0x0040; // first category header
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1081	fsm->sii_mode = 1;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1082	fsm->sii_state = ec_fsm_sii_start_reading;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1083	fsm->slave_state = ec_fsm_slavescan_eeprom_size;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1084	fsm->slave_state(fsm); // execute state immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1085	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1086
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1087	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1088
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1089	/**
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1090	Slave state: EEPROM_SIZE.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1091	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1092
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1093	void ec_fsm_slavescan_eeprom_size(ec_fsm_t fsm /< finite state machine /)
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1094	{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1095	ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1096	uint16_t cat_type, cat_size;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1097
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1098	// execute SII state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1099	fsm->sii_state(fsm);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1100
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1101	if (fsm->sii_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1102	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1103	fsm->slave_state = ec_fsm_error;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1104	EC_ERR("Failed to read EEPROM size of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1105	slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1106	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1107	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1108
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1109	if (fsm->sii_state != ec_fsm_end) return;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1110
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1111	cat_type = EC_READ_U16(fsm->sii_value);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1112	cat_size = EC_READ_U16(fsm->sii_value + 2);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1113
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1114	if (cat_type != 0xFFFF) { // not the last category
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1115	fsm->sii_offset += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1116	fsm->sii_state = ec_fsm_sii_start_reading;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1117	fsm->sii_state(fsm); // execute state immediately
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1118	return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1119	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1120
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1121	slave->eeprom_size = (fsm->sii_offset + 1) * 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1122
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1123	if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1124	EC_INFO("Freeing old EEPROM data on slave %i...\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1125	slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1126	kfree(slave->eeprom_data);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1127	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1128
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1129	if (!(slave->eeprom_data =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1130	(uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1131	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1132	fsm->slave_state = ec_fsm_error;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1133	EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1134	slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1135	return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1136	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1137
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1138	// Start fetching EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1139
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1140	fsm->sii_offset = 0x0000;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1141	fsm->sii_mode = 1;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1142	fsm->sii_state = ec_fsm_sii_start_reading;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1143	fsm->slave_state = ec_fsm_slavescan_eeprom_data;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1144	fsm->slave_state(fsm); // execute state immediately
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1145	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1146
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1147	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1148
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1149	/**
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1150	Slave state: EEPROM_DATA.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1151	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1152
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1153	void ec_fsm_slavescan_eeprom_data(ec_fsm_t fsm /< finite state machine /)
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1154	{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1155	ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1156	uint16_t *cat_word, cat_type, cat_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1157
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1158	// execute SII state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1159	fsm->sii_state(fsm);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1160
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1161	if (fsm->sii_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1162	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1163	fsm->slave_state = ec_fsm_error;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1164	EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1165	slave->ring_position);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1166	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1167	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1168
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1169	if (fsm->sii_state != ec_fsm_end) return;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1170
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1171	// 2 words fetched
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1172
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1173	if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1174	memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 4);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1175	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1176	else { // copy the last word
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1177	memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 2);
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1178	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1179
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1180	if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1181	// fetch the next 2 words
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1182	fsm->sii_offset += 2;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1183	fsm->sii_state = ec_fsm_sii_start_reading;
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1184	fsm->sii_state(fsm); // execute state immediately
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1185	return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1186	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1187
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1188	// Evaluate EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1189
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1190	slave->sii_alias =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1191	EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1192	slave->sii_vendor_id =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1193	EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1194	slave->sii_product_code =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1195	EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1196	slave->sii_revision_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1197	EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1198	slave->sii_serial_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1199	EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1200	slave->sii_rx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1201	EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1202	slave->sii_rx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1203	EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1204	slave->sii_tx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1205	EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1206	slave->sii_tx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1207	EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1208	slave->sii_mailbox_protocols =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1209	EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1210
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1211	// evaluate category data
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1212	cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1213	while (EC_READ_U16(cat_word) != 0xFFFF) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1214	cat_type = EC_READ_U16(cat_word) & 0x7FFF;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1215	cat_size = EC_READ_U16(cat_word + 1);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1216
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1217	switch (cat_type) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1218	case 0x000A:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1219	if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1220	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1221	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1222	case 0x001E:
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1223	ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
266 0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1224	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1225	case 0x0028:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1226	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1227	case 0x0029:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1228	if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1229	cat_size))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1230	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1231	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1232	case 0x0032:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1233	if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1234	cat_size, EC_TX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1235	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1236	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1237	case 0x0033:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1238	if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1239	cat_size, EC_RX_PDO))
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1240	goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1241	break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1242	default:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1243	EC_WARN("Unknown category type 0x%04X in slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1244	cat_type, slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1245	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1246
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1247	cat_word += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1248	}
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS. Florian Pose <fp@igh-essen.com> parents: 262 diff changeset	1249
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1250	fsm->slave_state = ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1251	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1252
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1253	end:
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1254	EC_ERR("Failed to analyze category data.\n");
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1255	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1256	fsm->slave_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1257	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1258
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1259	/******************************************************************************
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1260	* slave configuration state machine
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1261	*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1262
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1263	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1264	Slave state: INIT.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1265	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1266
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1267	void ec_fsm_slaveconf_init(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1268	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1269	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1270	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1271	const ec_sii_sync_t *sync;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1272
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1273	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1274
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1275	if (fsm->change_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1276	slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1277	fsm->slave_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1278	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1279	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1280
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1281	if (fsm->change_state != ec_fsm_end) return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1282
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1283	// slave is now in INIT
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1284	if (slave->current_state == slave->requested_state) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1285	fsm->slave_state = ec_fsm_end; // successful
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1286	return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1287	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1288
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1289	// check and reset CRC fault counters
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1290	//ec_slave_check_crc(slave);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1291	// TODO: Implement state machine for CRC checking.
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1292
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1293	if (!slave->base_sync_count) { // no sync managers
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1294	fsm->slave_state = ec_fsm_slaveconf_preop;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1295	fsm->change_new = EC_SLAVE_STATE_PREOP;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1296	fsm->change_state = ec_fsm_change_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1297	fsm->change_state(fsm); // execute immediately
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1298	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1299	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1300
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1301	// configure sync managers
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1302	ec_datagram_npwr(datagram, slave->station_address, 0x0800,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1303	EC_SYNC_SIZE * slave->base_sync_count);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1304	memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1305
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1306	list_for_each_entry(sync, &slave->sii_syncs, list) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1307	if (sync->index >= slave->base_sync_count) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1308	EC_ERR("Invalid sync manager configuration found!");
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1309	fsm->slave->error_flag = 1;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1310	fsm->slave_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1311	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1312	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1313	ec_sync_config(sync, slave,
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1314	datagram->data + EC_SYNC_SIZE * sync->index);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1315	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1316
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1317	ec_master_queue_datagram(fsm->master, datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1318	fsm->slave_state = ec_fsm_slaveconf_sync;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1319	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1320
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1321	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1322
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1323	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1324	Slave state: SYNC.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1325	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1326
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1327	void ec_fsm_slaveconf_sync(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1328	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1329	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1330	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1331
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1332	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1333	\|\| datagram->working_counter != 1) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1334	slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1335	fsm->slave_state = ec_fsm_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1336	EC_ERR("Failed to set sync managers on slave %i.\n",
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1337	slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1338	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1339	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1340
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1341	fsm->slave_state = ec_fsm_slaveconf_preop;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1342	fsm->change_new = EC_SLAVE_STATE_PREOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1343	fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1344	fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1345	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1346
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1347	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1348
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1349	/**
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1350	Slave state: PREOP.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1351	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1352
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1353	void ec_fsm_slaveconf_preop(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1354	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1355	ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1356	ec_master_t *master = fsm->master;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1357	ec_datagram_t *datagram = &fsm->datagram;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1358	unsigned int j;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1359
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1360	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1361
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1362	if (fsm->change_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1363	slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1364	fsm->slave_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1365	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1366	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1367
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1368	if (fsm->change_state != ec_fsm_end) return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1369
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1370	// slave is now in PREOP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1371	if (slave->current_state == slave->requested_state) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1372	fsm->slave_state = ec_fsm_end; // successful
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1373	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1374	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1375
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1376	if (!slave->base_fmmu_count) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1377	fsm->slave_state = ec_fsm_slaveconf_saveop;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1378	fsm->change_new = EC_SLAVE_STATE_SAVEOP;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1379	fsm->change_state = ec_fsm_change_start;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1380	fsm->change_state(fsm); // execute immediately
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1381	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1382	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1383
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1384	// configure FMMUs
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1385	ec_datagram_npwr(datagram, slave->station_address,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1386	0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1387	memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1388	for (j = 0; j < slave->fmmu_count; j++) {
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 269 diff changeset	1389	ec_fmmu_config(&slave->fmmus[j], slave,
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1390	datagram->data + EC_FMMU_SIZE * j);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1391	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1392
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1393	ec_master_queue_datagram(master, datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1394	fsm->slave_state = ec_fsm_slaveconf_fmmu;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1395	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1396
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1397	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1398
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1399	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1400	Slave state: FMMU.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1401	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1402
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1403	void ec_fsm_slaveconf_fmmu(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1404	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1405	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1406
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1407	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1408	\|\| datagram->working_counter != 1) {
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	1409	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1410	fsm->slave_state = ec_fsm_error;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1411	EC_ERR("Failed to set FMMUs on slave %i.\n",
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1412	fsm->slave->ring_position);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1413	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1414	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1415
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1416	// set state to SAVEOP
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1417	fsm->slave_state = ec_fsm_slaveconf_saveop;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1418	fsm->change_new = EC_SLAVE_STATE_SAVEOP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1419	fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1420	fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1421	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1422
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1423	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1424
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1425	/**
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1426	Slave state: SAVEOP.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1427	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1428
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1429	void ec_fsm_slaveconf_saveop(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1430	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1431	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1432
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1433	if (fsm->change_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1434	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1435	fsm->slave_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1436	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1437	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1438
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1439	if (fsm->change_state != ec_fsm_end) return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1440
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1441	// slave is now in SAVEOP
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1442	if (fsm->slave->current_state == fsm->slave->requested_state) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1443	fsm->slave_state = ec_fsm_end; // successful
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1444	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1445	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1446
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1447	// set state to OP
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1448	fsm->slave_state = ec_fsm_slaveconf_op;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1449	fsm->change_new = EC_SLAVE_STATE_OP;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1450	fsm->change_state = ec_fsm_change_start;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1451	fsm->change_state(fsm); // execute immediately
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1452	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1453
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1454	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1455
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1456	/**
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1457	Slave state: OP
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1458	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1459
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1460	void ec_fsm_slaveconf_op(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1461	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1462	fsm->change_state(fsm); // execute state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1463
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1464	if (fsm->change_state == ec_fsm_error) {
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1465	fsm->slave->error_flag = 1;
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1466	fsm->slave_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1467	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1468	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1469
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1470	if (fsm->change_state != ec_fsm_end) return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1471
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1472	// slave is now in OP
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1473	fsm->slave_state = ec_fsm_end; // successful
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1475
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1476	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1477	* SII state machine
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1478	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1479
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1480	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1481	SII state: START_READING.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1482	Starts reading the slave information interface.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1483	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1484
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1485	void ec_fsm_sii_start_reading(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1486	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1487	ec_datagram_t *datagram = &fsm->datagram;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1488
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1489	// initiate read operation
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1490	if (fsm->sii_mode) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1491	ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1492	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1493	else {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1494	ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1495	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1496
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1497	EC_WRITE_U8 (datagram->data, 0x00); // read-only access
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1498	EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1499	EC_WRITE_U16(datagram->data + 2, fsm->sii_offset);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1500	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1501	fsm->sii_state = ec_fsm_sii_read_check;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1502	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1503
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1504	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1505
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1506	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1507	SII state: READ_CHECK.
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1508	Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1509	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1510
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1511	void ec_fsm_sii_read_check(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1512	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1513	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1514
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1515	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1516	\|\| datagram->working_counter != 1) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1517	EC_ERR("SII: Reception of read datagram failed.\n");
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1518	fsm->sii_state = ec_fsm_error;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1520	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1521
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1522	fsm->sii_start = get_cycles();
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1523
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1524	// issue check/fetch datagram
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1525	if (fsm->sii_mode) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1526	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1527	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1528	else {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1529	ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1530	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1531
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1532	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1533	fsm->sii_state = ec_fsm_sii_read_fetch;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1534	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1535
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1536	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1537
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1538	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1539	SII state: READ_FETCH.
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1540	Fetches the result of an SII-read datagram.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1541	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1542
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1543	void ec_fsm_sii_read_fetch(ec_fsm_t fsm /< finite state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1544	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1545	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1546
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1547	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1548	\|\| datagram->working_counter != 1) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1549	EC_ERR("SII: Reception of check/fetch datagram failed.\n");
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1550	fsm->sii_state = ec_fsm_error;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1551	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1552	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1553
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1554	// check "busy bit"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1555	if (EC_READ_U8(datagram->data + 1) & 0x81) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1556	// still busy... timeout?
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1557	if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1558	EC_ERR("SII: Timeout.\n");
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1559	fsm->sii_state = ec_fsm_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1560	#if 0
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1561	EC_DBG("SII busy: %02X %02X %02X %02X\n",
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1562	EC_READ_U8(datagram->data + 0),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1563	EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1564	EC_READ_U8(datagram->data + 2),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1565	EC_READ_U8(datagram->data + 3));
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1566	#endif
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1567	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1568
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1569	// issue check/fetch datagram again
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1570	if (fsm->sii_mode) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1571	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1572	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1573	else {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1574	ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1575	}
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1576	ec_master_queue_datagram(fsm->master, datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1577	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1578	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1579
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1580	#if 0
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1581	EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1582	EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1583	EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1584	EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1585	EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1586	#endif
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1587
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1588	// SII value received.
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1589	memcpy(fsm->sii_value, datagram->data + 6, 4);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1590	fsm->sii_state = ec_fsm_end;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1591	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1592
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1593	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1594
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1595	/**
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1596	SII state: START_WRITING.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1597	Starts reading the slave information interface.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1598	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1599
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1600	void ec_fsm_sii_start_writing(ec_fsm_t fsm /< finite state machine /)
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1601	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1602	ec_datagram_t *datagram = &fsm->datagram;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1603
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1604	// initiate write operation
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1605	ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1606	EC_WRITE_U8 (datagram->data, 0x01); // enable write access
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1607	EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1608	EC_WRITE_U32(datagram->data + 2, fsm->sii_offset);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1609	memcpy(datagram->data + 6, fsm->sii_value, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1610	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1611	fsm->sii_state = ec_fsm_sii_write_check;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1612	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1613
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1614	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1615
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1616	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1617	SII state: WRITE_CHECK.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1618	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1619
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1620	void ec_fsm_sii_write_check(ec_fsm_t fsm /< finite state machine /)
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1621	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1622	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1623
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1624	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1625	\|\| datagram->working_counter != 1) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1626	EC_ERR("SII: Reception of write datagram failed.\n");
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1627	fsm->sii_state = ec_fsm_error;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1628	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1629	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1630
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1631	fsm->sii_start = get_cycles();
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1632
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1633	// issue check/fetch datagram
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1634	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1635	ec_master_queue_datagram(fsm->master, datagram);
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1636	fsm->sii_state = ec_fsm_sii_write_check2;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1637	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1638
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1639	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1640
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1641	/**
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1642	SII state: WRITE_CHECK2.
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1643	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1644
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1645	void ec_fsm_sii_write_check2(ec_fsm_t fsm /< finite state machine /)
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1646	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1647	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1648
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1649	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1650	\|\| datagram->working_counter != 1) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1651	EC_ERR("SII: Reception of write check datagram failed.\n");
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1652	fsm->sii_state = ec_fsm_error;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1653	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1654	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1655
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1656	if (EC_READ_U8(datagram->data + 1) & 0x82) {
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1657	// still busy... timeout?
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1658	if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1659	EC_ERR("SII: Write timeout.\n");
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1660	fsm->sii_state = ec_fsm_error;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1661	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1662
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1663	// issue check/fetch datagram again
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1664	ec_master_queue_datagram(fsm->master, datagram);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1665	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1666	else if (EC_READ_U8(datagram->data + 1) & 0x40) {
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1667	EC_ERR("SII: Write operation failed!\n");
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1668	fsm->sii_state = ec_fsm_error;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1669	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	1670	else { // success
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1671	fsm->sii_state = ec_fsm_end;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1672	}
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1673	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1674
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1675	/******************************************************************************
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1676	* state change state machine
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1677	*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1678
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1679	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1680	Change state: START.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1681	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1682
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1683	void ec_fsm_change_start(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1684	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1685	ec_datagram_t *datagram = &fsm->datagram;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1686	ec_slave_t *slave = fsm->slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1687
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1688	fsm->change_start = get_cycles();
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1689
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1690	// write new state to slave
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1691	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1692	EC_WRITE_U16(datagram->data, fsm->change_new);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1693	ec_master_queue_datagram(fsm->master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1694	fsm->change_state = ec_fsm_change_check;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1695	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1696
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1697	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1698
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1699	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1700	Change state: CHECK.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1701	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1702
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1703	void ec_fsm_change_check(ec_fsm_t fsm /< finite state machine /)
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1704	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1705	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1706	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1707
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1708	if (datagram->state != EC_DATAGRAM_RECEIVED) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1709	fsm->change_state = ec_fsm_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1710	EC_ERR("Failed to send state datagram to slave %i!\n",
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1711	fsm->slave->ring_position);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1712	return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1713	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1714
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1715	if (datagram->working_counter != 1) {
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1716	if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1717	fsm->change_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1718	EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1719	" respond.\n", fsm->change_new, fsm->slave->ring_position);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1720	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1721	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1722
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1723	// repeat writing new state to slave
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1724	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1725	EC_WRITE_U16(datagram->data, fsm->change_new);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1726	ec_master_queue_datagram(fsm->master, datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1727	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1728	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1729
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1730	fsm->change_start = get_cycles();
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1731
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1732	// read AL status from slave
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1733	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1734	ec_master_queue_datagram(fsm->master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1735	fsm->change_state = ec_fsm_change_status;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1736	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1737
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1738	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1739
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1740	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1741	Change state: STATUS.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1742	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1743
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1744	void ec_fsm_change_status(ec_fsm_t fsm /< finite state machine /)
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1745	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1746	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1747	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1748
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1749	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1750	\|\| datagram->working_counter != 1) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1751	fsm->change_state = ec_fsm_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1752	EC_ERR("Failed to check state 0x%02X on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1753	fsm->change_new, slave->ring_position);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1754	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1755	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1756
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1757	slave->current_state = EC_READ_U8(datagram->data);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1758
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1759	if (slave->current_state == fsm->change_new) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1760	// state has been set successfully
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1761	fsm->change_state = ec_fsm_end;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1762	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1763	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1764
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1765	if (slave->current_state & 0x10) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1766	// state change error
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1767	fsm->change_new = slave->current_state & 0x0F;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1768	EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1769	" (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1770	slave->current_state);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1771	// fetch AL status error code
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1772	ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1773	ec_master_queue_datagram(fsm->master, datagram);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1774	fsm->change_state = ec_fsm_change_code;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1775	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1776	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1777
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1778	if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1779	// timeout while checking
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1780	fsm->change_state = ec_fsm_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1781	EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1782	fsm->change_new, slave->ring_position);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1783	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1784	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1785
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1786	// still old state: check again
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1787	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1788	ec_master_queue_datagram(fsm->master, datagram);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1789	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1790
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1791	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1792
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	1793	/**
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1794	Application layer status messages.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1795	*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1796
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1797	const ec_code_msg_t al_status_messages[] = {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1798	{0x0001, "Unspecified error"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1799	{0x0011, "Invalud requested state change"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1800	{0x0012, "Unknown requested state"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1801	{0x0013, "Bootstrap not supported"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1802	{0x0014, "No valid firmware"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1803	{0x0015, "Invalid mailbox configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1804	{0x0016, "Invalid mailbox configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1805	{0x0017, "Invalid sync manager configuration"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1806	{0x0018, "No valid inputs available"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1807	{0x0019, "No valid outputs"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1808	{0x001A, "Synchronisation error"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1809	{0x001B, "Sync manager watchdog"},
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1810	{0x001C, "Invalid sync manager types"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1811	{0x001D, "Invalid output configuration"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1812	{0x001E, "Invalid input configuration"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1813	{0x001F, "Invalid watchdog configuration"},
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1814	{0x0020, "Slave needs cold start"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1815	{0x0021, "Slave needs INIT"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1816	{0x0022, "Slave needs PREOP"},
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1817	{0x0023, "Slave needs SAVEOP"},
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1818	{0x0030, "Invalid DC SYNCH configuration"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1819	{0x0031, "Invalid DC latch configuration"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1820	{0x0032, "PLL error"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1821	{0x0033, "Invalid DC IO error"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1822	{0x0034, "Invalid DC timeout error"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1823	{0x0042, "MBOX EOE"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1824	{0x0043, "MBOX COE"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1825	{0x0044, "MBOX FOE"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1826	{0x0045, "MBOX SOE"},
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1827	{0x004F, "MBOX VOE"},
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1828	{}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1829	};
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1830
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1831	/*****************************************************************************/
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1832
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1833	/**
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1834	Change state: CODE.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1835	*/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1836
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1837	void ec_fsm_change_code(ec_fsm_t fsm /< finite state machine /)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1838	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1839	ec_datagram_t *datagram = &fsm->datagram;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1840	ec_slave_t *slave = fsm->slave;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1841	uint32_t code;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1842	const ec_code_msg_t *al_msg;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1843
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1844	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1845	\|\| datagram->working_counter != 1) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1846	fsm->change_state = ec_fsm_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1847	EC_ERR("Reception of AL status code datagram failed.\n");
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1848	return;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1849	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1850
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1851	if ((code = EC_READ_U16(datagram->data))) {
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1852	for (al_msg = al_status_messages; al_msg->code; al_msg++) {
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1853	if (al_msg->code != code) continue;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1854	EC_ERR("AL status message 0x%04X: \"%s\".\n",
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1855	al_msg->code, al_msg->message);
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1856	break;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1857	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1858	if (!al_msg->code)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1859	EC_ERR("Unknown AL status code 0x%04X.\n", code);
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1860	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1861
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1862	// acknowledge "old" slave state
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1863	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1864	EC_WRITE_U16(datagram->data, slave->current_state);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1865	ec_master_queue_datagram(fsm->master, datagram);
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1866	fsm->change_state = ec_fsm_change_ack;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1867	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1868
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1869	/*****************************************************************************/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1870
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1871	/**
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1872	Change state: ACK.
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1873	*/
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1874
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1875	void ec_fsm_change_ack(ec_fsm_t fsm /< finite state machine /)
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1876	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1877	ec_datagram_t *datagram = &fsm->datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1878	ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1879
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1880	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1881	\|\| datagram->working_counter != 1) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1882	fsm->change_state = ec_fsm_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1883	EC_ERR("Reception of state ack datagram failed.\n");
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1884	return;
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1885	}
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1886
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1887	fsm->change_start = get_cycles();
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1888
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1889	// read new AL status
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1890	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1891	ec_master_queue_datagram(fsm->master, datagram);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1892	fsm->change_state = ec_fsm_change_check_ack;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1893	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1894
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1895	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1896
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1897	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1898	Change state: CHECK ACK.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1899	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1900
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1901	void ec_fsm_change_check_ack(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1902	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1903	ec_datagram_t *datagram = &fsm->datagram;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1904	ec_slave_t *slave = fsm->slave;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1905	ec_slave_state_t ack_state;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1906
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1907	if (datagram->state != EC_DATAGRAM_RECEIVED
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1908	\|\| datagram->working_counter != 1) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1909	fsm->change_state = ec_fsm_error;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1910	EC_ERR("Reception of state ack check datagram failed.\n");
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1911	return;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1912	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	1913
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1914	ack_state = EC_READ_U8(datagram->data);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1915
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1916	if (ack_state == slave->current_state) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1917	fsm->change_state = ec_fsm_error;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1918	EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 275 diff changeset	1919	slave->current_state, slave->ring_position);
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1920	return;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1921	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1922
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1923	if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1924	// timeout while checking
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1925	slave->current_state = EC_SLAVE_STATE_UNKNOWN;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1926	fsm->change_state = ec_fsm_error;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1927	EC_ERR("Timeout while acknowleging state 0x%02X on slave %i.\n",
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1928	fsm->change_new, slave->ring_position);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1929	return;
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1930	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1931
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1932	// reread new AL status
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1933	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1934	ec_master_queue_datagram(fsm->master, datagram);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1935	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1936
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1937	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1938
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1939	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1940	State: ERROR.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1941	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1942
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1943	void ec_fsm_error(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1944	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1945	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1946
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1947	/*****************************************************************************/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1948
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1949	/**
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1950	State: END.
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1951	*/
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1952
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1953	void ec_fsm_end(ec_fsm_t fsm /< finite state machine /)
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1954	{
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1955	}
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1956
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	1957	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 03 Aug 2006 12:59:01 +0000
branch	stable-1.1
changeset 1715	e675450f2174
parent 293	14aeb79aa992
child 1716	9440f4ff25c7
permissions	-rw-r--r--