master/fsm_master.c
author Florian Pose <fp@igh-essen.com>
Mon, 07 Apr 2008 10:26:13 +0000
changeset 886 ee1b25db1fbf
parent 880 f6212c54a5e3
child 900 f8b5c6d21705
permissions -rw-r--r--
Added a few docs.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT finite state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "fsm_master.h"
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/*****************************************************************************/
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void ec_fsm_master_state_start(ec_fsm_master_t *);
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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void ec_fsm_master_state_read_states(ec_fsm_master_t *);
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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
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void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
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void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
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void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
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void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
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void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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void ec_fsm_master_state_end(ec_fsm_master_t *);
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void ec_fsm_master_state_error(ec_fsm_master_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
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        ec_master_t *master, /**< EtherCAT master */
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        ec_datagram_t *datagram /**< datagram object to use */
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        )
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{
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    fsm->master = master;
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    fsm->datagram = datagram;
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    fsm->state = ec_fsm_master_state_start;
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    fsm->idle = 0;
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    fsm->slaves_responding = 0;
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    fsm->topology_change_pending = 0;
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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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    fsm->validate = 0;
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    fsm->tainted = 0;
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    // init sub-state-machines
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    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
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    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
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            &fsm->fsm_slave_config, &fsm->fsm_coe_map);
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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    ec_fsm_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    // clear sub-state machines
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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_coe_map_clear(&fsm->fsm_coe_map);
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   If the state machine's datagram is not sent or received yet, the execution
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   of the state machine is delayed to the next cycle.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_master_exec(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return ec_fsm_master_running(fsm);
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    }
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    fsm->state(fsm);
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    return ec_fsm_master_running(fsm);
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}
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/*****************************************************************************/
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/**
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_master_running(
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        const ec_fsm_master_t *fsm /**< master state machine */
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        )
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{
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    return fsm->state != ec_fsm_master_state_end
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        && fsm->state != ec_fsm_master_state_error;
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}
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/*****************************************************************************/
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/**
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 * \return true, if the state machine is in an idle phase
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 */
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int ec_fsm_master_idle(
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        const ec_fsm_master_t *fsm /**< master state machine */
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        )
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{
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    return fsm->idle;
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}
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238
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/******************************************************************************
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 *  master state machine
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 *****************************************************************************/
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/**
260
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   Master state: START.
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   Starts with getting slave count and slave states.
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*/
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void ec_fsm_master_state_start(ec_fsm_master_t *fsm)
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{
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    fsm->idle = 1;
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    ec_datagram_brd(fsm->datagram, 0x0130, 2);
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    fsm->state = ec_fsm_master_state_broadcast;
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}
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/*****************************************************************************/
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/**
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   Master state: BROADCAST.
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   Processes the broadcast read slave count and slaves states.
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*/
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void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    unsigned int i;
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    ec_slave_t *slave;
260
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    ec_master_t *master = fsm->master;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT)
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        return; // always retry
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    if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
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        fsm->slaves_responding = 0;
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        list_for_each_entry(slave, &master->slaves, list) {
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            ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
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        }
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        fsm->state = ec_fsm_master_state_error;
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        return;
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    }
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    // bus topology change?
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    if (datagram->working_counter != fsm->slaves_responding) {
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        fsm->topology_change_pending = 1;
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        fsm->slaves_responding = datagram->working_counter;
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        EC_INFO("%u slave%s responding.\n",
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                fsm->slaves_responding,
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                fsm->slaves_responding == 1 ? "" : "s");
262
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325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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        if (master->mode == EC_MASTER_MODE_OPERATION) {
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            if (fsm->slaves_responding == master->slave_count) {
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                fsm->validate = 1; // start validation later
262
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   219
            }
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   220
            else {
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   221
                EC_WARN("Invalid slave count. Bus in tainted state.\n");
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                fsm->tainted = 1;
262
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   223
            }
260
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   224
        }
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    }
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   226
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    // slave states changed?
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   228
    if (EC_READ_U8(datagram->data) != fsm->slave_states) {
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7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
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   229
        char states[EC_STATE_STRING_SIZE];
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   230
        fsm->slave_states = EC_READ_U8(datagram->data);
528
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        ec_state_string(fsm->slave_states, states);
325
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   232
        EC_INFO("Slave states: %s.\n", states);
260
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   233
    }
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   234
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    if (fsm->topology_change_pending) {
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   236
        down(&master->scan_sem);
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   237
        if (!master->allow_scan) {
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   238
            up(&master->scan_sem);
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   239
        }
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   240
        else {
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6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   241
            master->scan_state = EC_REQUEST_BUSY;
656
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            up(&master->scan_sem);
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   243
            
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   244
            // topology change when scan is allowed:
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            // clear all slaves and scan the bus
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            fsm->topology_change_pending = 0;
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   247
            fsm->tainted = 0;
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   248
            fsm->idle = 0;
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   249
            fsm->scan_jiffies = jiffies;
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diff changeset
   250
715
f12ff7c08623 Added --enable-eoe conditional.
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diff changeset
   251
#ifdef EC_EOE
656
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   252
            ec_master_eoe_stop(master);
661
bc1de1362efb Dynamic creation of EoE handlers.
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diff changeset
   253
            ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
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diff changeset
   254
#endif
656
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   255
            ec_master_destroy_slaves(master);
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   256
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   257
            master->slave_count = datagram->working_counter;
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   258
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diff changeset
   259
            if (!master->slave_count) {
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   260
                // no slaves present -> finish state machine.
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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diff changeset
   261
                master->scan_state = EC_REQUEST_SUCCESS;
656
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diff changeset
   262
                wake_up_interruptible(&master->scan_queue);
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diff changeset
   263
                fsm->state = ec_fsm_master_state_end;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   264
                return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   265
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   266
656
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   267
            // init slaves
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diff changeset
   268
            for (i = 0; i < master->slave_count; i++) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   269
                if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
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diff changeset
   270
                                GFP_ATOMIC))) {
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   271
                    EC_ERR("Failed to allocate slave %i!\n", i);
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   272
                    ec_master_destroy_slaves(master);
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diff changeset
   273
                    master->scan_state = EC_REQUEST_FAILURE;
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diff changeset
   274
                    wake_up_interruptible(&master->scan_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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   275
                    fsm->state = ec_fsm_master_state_error;
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diff changeset
   276
                    return;
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diff changeset
   277
                }
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diff changeset
   278
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   279
                if (ec_slave_init(slave, master, i, i + 1)) {
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diff changeset
   280
                    // freeing of "slave" already done
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   281
                    ec_master_destroy_slaves(master);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   282
                    master->scan_state = EC_REQUEST_FAILURE;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   283
                    wake_up_interruptible(&master->scan_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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parents: 652
diff changeset
   284
                    fsm->state = ec_fsm_master_state_error;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   285
                    return;
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diff changeset
   286
                }
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diff changeset
   287
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   288
                list_add_tail(&slave->list, &master->slaves);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   289
            }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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parents: 259
diff changeset
   290
717
87abf1166e88 Clear station addresses with broadcast before setting them.
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diff changeset
   291
            if (master->debug_level)
87abf1166e88 Clear station addresses with broadcast before setting them.
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diff changeset
   292
                EC_DBG("Clearing station addresses...\n");
87abf1166e88 Clear station addresses with broadcast before setting them.
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parents: 716
diff changeset
   293
87abf1166e88 Clear station addresses with broadcast before setting them.
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diff changeset
   294
            ec_datagram_bwr(datagram, 0x0010, 2);
87abf1166e88 Clear station addresses with broadcast before setting them.
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parents: 716
diff changeset
   295
            EC_WRITE_U16(datagram->data, 0x0000);
87abf1166e88 Clear station addresses with broadcast before setting them.
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parents: 716
diff changeset
   296
            fsm->retries = EC_FSM_RETRIES;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   297
            fsm->state = ec_fsm_master_state_clear_addresses;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   298
            return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   299
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
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diff changeset
   300
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   301
853
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   302
    if (list_empty(&master->slaves)) {
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
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parents: 849
diff changeset
   303
        fsm->state = ec_fsm_master_state_end;
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
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parents: 849
diff changeset
   304
    } else {
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   305
        // fetch state from each slave
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
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parents: 849
diff changeset
   306
        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   307
        ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   308
        fsm->retries = EC_FSM_RETRIES;
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   309
        fsm->state = ec_fsm_master_state_read_states;
726326d0aef4 Fixed bug if scanning is not allowed when link goes up.
Florian Pose <fp@igh-essen.com>
parents: 849
diff changeset
   310
    }
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   311
}
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   312
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   313
/*****************************************************************************/
558a6669da90 Better master state machines.
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parents: 301
diff changeset
   314
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   315
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   316
 * Check for pending SII write requests and process one.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   317
 * \return non-zero, if an SII write request is processed.
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   318
 */
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
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diff changeset
   319
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   320
int ec_fsm_master_action_process_sii(
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   321
        ec_fsm_master_t *fsm /**< master state machine */
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   322
        )
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   323
{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   324
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   325
    ec_sii_write_request_t *request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   326
    ec_slave_t *slave;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   327
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   328
    // search the first request to be processed
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   329
    while (1) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   330
        down(&master->sii_sem);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   331
        if (list_empty(&master->sii_requests)) {
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   332
            up(&master->sii_sem);
604
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   333
            break;
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   334
        }
74ceacf42710 Fixed possible race with next request pointer again.
Florian Pose <fp@igh-essen.com>
parents: 603
diff changeset
   335
        // get first request
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   336
        request = list_entry(master->sii_requests.next,
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   337
                ec_sii_write_request_t, list);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   338
        list_del_init(&request->list); // dequeue
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   339
        request->state = EC_REQUEST_BUSY;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   340
        up(&master->sii_sem);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   341
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   342
        slave = request->slave;
729
3aed091b2663 Allow EEPROM writing when slave has error flag set.
Florian Pose <fp@igh-essen.com>
parents: 717
diff changeset
   343
        if (slave->online_state == EC_SLAVE_OFFLINE) {
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   344
            EC_ERR("Discarding SII data, slave %i offline.\n",
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   345
                    slave->ring_position);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   346
            request->state = EC_REQUEST_FAILURE;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   347
            wake_up(&master->sii_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   348
            continue;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   349
        }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   350
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   351
        // found pending SII write operation. execute it!
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   352
        if (master->debug_level)
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   353
            EC_DBG("Writing SII data to slave %i...\n",
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   354
                    slave->ring_position);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   355
        fsm->sii_request = request;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   356
        fsm->sii_index = 0;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 743
diff changeset
   357
        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->word_offset,
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   358
                request->data, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   359
        fsm->state = ec_fsm_master_state_write_sii;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   360
        fsm->state(fsm); // execute immediately
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   361
        return 1;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   362
    }
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   363
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   364
    return 0;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   365
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   366
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   367
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   368
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   369
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   370
 * Check for pending Sdo requests and process one.
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   371
 * \return non-zero, if an Sdo request is processed.
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   372
 */
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   373
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   374
int ec_fsm_master_action_process_sdo(
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   375
        ec_fsm_master_t *fsm /**< master state machine */
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   376
        )
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   377
{
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   378
    ec_master_t *master = fsm->master;
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   379
    ec_master_sdo_request_t *request;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   380
    ec_sdo_request_t *req;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   381
    ec_slave_t *slave;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   382
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   383
    // search for internal requests to be processed
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   384
    list_for_each_entry(slave, &master->slaves, list) {
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   385
        if (!slave->config)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   386
            continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   387
        list_for_each_entry(req, &slave->config->sdo_requests, list) {
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   388
            if (req->state == EC_REQUEST_QUEUED) {
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   389
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   390
                if (ec_sdo_request_timed_out(req)) {
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   391
                    req->state = EC_REQUEST_FAILURE;
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   392
                    if (master->debug_level)
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   393
                        EC_DBG("Sdo request for slave %u timed out...\n",
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   394
                                slave->ring_position);
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   395
                    continue;
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   396
                }
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   397
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   398
                if (slave->current_state == EC_SLAVE_STATE_INIT ||
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   399
                        slave->error_flag) {
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   400
                    req->state = EC_REQUEST_FAILURE;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   401
                    continue;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   402
                }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   403
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 872
diff changeset
   404
                req->state = EC_REQUEST_BUSY;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   405
                if (master->debug_level)
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   406
                    EC_DBG("Processing Sdo request for slave %u...\n",
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   407
                            slave->ring_position);
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   408
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   409
                fsm->idle = 0;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   410
                fsm->sdo_request = req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   411
                fsm->slave = slave;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   412
                fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   413
                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   414
                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   415
                return 1;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   416
            }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   417
        }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   418
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   419
    
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   420
    // search the first external request to be processed
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   421
    while (1) {
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   422
        down(&master->sdo_sem);
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   423
        if (list_empty(&master->slave_sdo_requests)) {
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   424
            up(&master->sdo_sem);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   425
            break;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   426
        }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   427
        // get first request
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   428
        request = list_entry(master->slave_sdo_requests.next,
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   429
                ec_master_sdo_request_t, list);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   430
        list_del_init(&request->list); // dequeue
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   431
        request->req.state = EC_REQUEST_BUSY;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   432
        up(&master->sdo_sem);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   433
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   434
        slave = request->slave;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   435
        if (slave->current_state == EC_SLAVE_STATE_INIT ||
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   436
                slave->online_state == EC_SLAVE_OFFLINE ||
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   437
                slave->error_flag) {
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   438
            EC_ERR("Discarding Sdo request, slave %u not ready.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   439
                    slave->ring_position);
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   440
            request->req.state = EC_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   441
            wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   442
            continue;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   443
        }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   444
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   445
        // Found pending Sdo request. Execute it!
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   446
        if (master->debug_level)
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   447
            EC_DBG("Processing Sdo request for slave %i...\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   448
                    slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   449
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   450
        // Start uploading Sdo
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   451
        fsm->idle = 0;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   452
        fsm->sdo_request = &request->req;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   453
        fsm->slave = slave;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   454
        fsm->state = ec_fsm_master_state_sdo_request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   455
        ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   456
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   457
        return 1;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   458
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   459
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   460
    return 0;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   461
}
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   462
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   463
/*****************************************************************************/
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   464
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   465
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   466
 * Check for slaves that are not configured and configure them.
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   467
 */
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   468
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   469
int ec_fsm_master_action_configure(
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   470
        ec_fsm_master_t *fsm /**< master state machine */
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   471
        )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   472
{
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   473
    ec_slave_t *slave;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   474
    ec_master_t *master = fsm->master;
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 402
diff changeset
   475
    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   476
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   477
    // check if any slaves are not in the state, they're supposed to be
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   478
    // FIXME do not check all slaves in every cycle...
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   479
    list_for_each_entry(slave, &master->slaves, list) {
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   480
        if (slave->error_flag
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   481
                || slave->online_state == EC_SLAVE_OFFLINE
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   482
                || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   483
                || (slave->current_state == slave->requested_state
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   484
                    && slave->self_configured)) continue;
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   485
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   486
        if (master->debug_level) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   487
            ec_state_string(slave->current_state, old_state);
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   488
            if (slave->current_state != slave->requested_state) {
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   489
                ec_state_string(slave->requested_state, new_state);
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   490
                EC_DBG("Changing state of slave %i (%s -> %s).\n",
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   491
                        slave->ring_position, old_state, new_state);
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   492
            }
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   493
            else if (!slave->self_configured) {
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   494
                EC_DBG("Reconfiguring slave %i (%s).\n",
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   495
                        slave->ring_position, old_state);
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   496
            }
421
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup.
Florian Pose <fp@igh-essen.com>
parents: 420
diff changeset
   497
        }
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   498
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   499
        fsm->idle = 0;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   500
        fsm->slave = slave;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   501
        fsm->state = ec_fsm_master_state_configure_slave;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   502
        ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   503
        ec_fsm_slave_config_exec(&fsm->fsm_slave_config); // execute immediately
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   504
        return 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   505
    }
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   506
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   507
    if (fsm->config_error)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   508
        master->config_state = EC_REQUEST_FAILURE;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   509
    else
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   510
        master->config_state = EC_REQUEST_SUCCESS;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   511
    wake_up_interruptible(&master->config_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   512
    return 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   513
}
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   514
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   515
/*****************************************************************************/
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   516
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   517
/**
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   518
   Master action: PROC_STATES.
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   519
   Processes the slave states.
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   520
*/
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   521
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   522
void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   523
                                         /**< master state machine */
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   524
                                         )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   525
{
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   526
    ec_master_t *master = fsm->master;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   527
    ec_slave_t *slave;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   528
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   529
    down(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   530
    if (!master->allow_config) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   531
        up(&master->config_sem);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   532
    } else {
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   533
        master->config_state = EC_REQUEST_BUSY;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   534
        fsm->config_error = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   535
        up(&master->config_sem);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   536
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   537
        // check for pending slave configurations
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   538
        if (ec_fsm_master_action_configure(fsm))
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   539
            return;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   540
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   541
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
   542
    // Check for pending Sdo requests
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   543
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   544
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   545
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   546
    if (master->mode == EC_MASTER_MODE_IDLE) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   547
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   548
        // check, if slaves have an Sdo dictionary to read out.
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   549
        list_for_each_entry(slave, &master->slaves, list) {
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   550
            if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   551
                || slave->sdo_dictionary_fetched
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   552
                || slave->current_state == EC_SLAVE_STATE_INIT
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   553
                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   554
                || slave->online_state == EC_SLAVE_OFFLINE
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   555
                || slave->error_flag) continue;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   556
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   557
            if (master->debug_level) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   558
                EC_DBG("Fetching Sdo dictionary from slave %i.\n",
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   559
                       slave->ring_position);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   560
            }
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   561
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   562
            slave->sdo_dictionary_fetched = 1;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   563
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   564
            // start fetching Sdo dictionary
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   565
            fsm->idle = 0;
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   566
            fsm->slave = slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   567
            fsm->state = ec_fsm_master_state_sdodict;
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   568
            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   569
            ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   570
            return;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 437
diff changeset
   571
        }
442
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.
Florian Pose <fp@igh-essen.com>
parents: 441
diff changeset
   572
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   573
        // check for pending SII write operations.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   574
        if (ec_fsm_master_action_process_sii(fsm))
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   575
            return; // SII write request found
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   576
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   577
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   578
    fsm->state = ec_fsm_master_state_end;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   579
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   580
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   581
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   582
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   583
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   584
   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
   585
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   586
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   587
void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   588
                                           /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   589
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   590
    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
   591
    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
   592
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   593
    // 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
   594
    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
   595
        // process next slave
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   596
        fsm->idle = 1;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   597
        fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   598
        ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   599
                         0x0130, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   600
        fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   601
        fsm->state = ec_fsm_master_state_read_states;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   602
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   603
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   604
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   605
    // all slave states read
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   606
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   607
    // check, if a bus validation has to be done
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   608
    if (fsm->validate) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   609
        fsm->validate = 0;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   610
        list_for_each_entry(slave, &master->slaves, list) {
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   611
            if (slave->online_state == EC_SLAVE_ONLINE) continue;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   612
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   613
            // 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
   614
            EC_INFO("Validating bus.\n");
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   615
            fsm->idle = 0;
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   616
            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   617
            fsm->state = ec_fsm_master_state_validate_vendor;
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   618
            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008,
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   619
                    EC_FSM_SII_USE_INCREMENT_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   620
            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   621
            return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   622
        }
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   623
    }
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   624
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   625
    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
   626
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   627
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
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   630
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   631
   Master state: READ STATES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   632
   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
   633
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   634
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   635
void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   636
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   637
    ec_slave_t *slave = fsm->slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   638
    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
   639
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   640
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   641
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   642
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   643
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   644
        EC_ERR("Failed to receive AL state datagram for slave %i"
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   645
                " (datagram state %i)\n",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   646
                slave->ring_position, datagram->state);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   647
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   651
    // did the slave not respond to its station address?
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   652
    if (datagram->working_counter == 0) {
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   653
        ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   654
        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
   655
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   656
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   657
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   658
    // FIXME what to to on multiple response?
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   659
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   660
    // slave responded
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   661
    ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   662
    ec_slave_set_online_state(slave, EC_SLAVE_ONLINE);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   663
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   664
    // check, if new slave state has to be acknowledged
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   665
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 649
diff changeset
   666
        fsm->idle = 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   667
        fsm->state = ec_fsm_master_state_acknowledge;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   668
        ec_fsm_change_ack(&fsm->fsm_change, slave);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   669
        ec_fsm_change_exec(&fsm->fsm_change);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   670
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   671
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   672
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   673
    ec_fsm_master_action_next_slave_state(fsm);
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   674
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   675
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   676
/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   677
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   678
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   679
   Master state: ACKNOWLEDGE
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   680
*/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   681
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   682
void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */)
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   683
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   684
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   685
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   686
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   687
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   688
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   689
        fsm->slave->error_flag = 1;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   690
        EC_ERR("Failed to acknowledge state change on slave %i.\n",
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   691
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   692
        fsm->state = ec_fsm_master_state_error;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   693
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   694
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   695
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   696
    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
   697
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   698
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   699
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   700
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   701
/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   702
   Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   703
   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
   704
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   705
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   706
void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *fsm /**< master state machine */)
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   707
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   708
    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
   709
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   710
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   711
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   712
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   713
        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
   714
        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
   715
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   716
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   720
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii.vendor_id) {
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   721
        EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   722
        fsm->state = ec_fsm_master_state_error;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   724
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   726
    // vendor ID is ok. check product code.
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   727
    fsm->state = ec_fsm_master_state_validate_product;
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   728
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A,
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   729
            EC_FSM_SII_USE_INCREMENT_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   730
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   731
}
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   732
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   733
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   734
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   735
/**
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   736
   Master action: ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   737
   Looks for slave, that have lost their configuration and writes
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   738
   their station address, so that they can be reconfigured later.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   739
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   740
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   741
void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machine */)
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   742
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   743
    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
   744
610
29489a43ecee Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   745
    while (fsm->slave->online_state == EC_SLAVE_ONLINE) {
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   746
        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   747
            fsm->state = ec_fsm_master_state_end;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   748
            return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
        }
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   750
        // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   751
        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
   752
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   753
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   754
    if (fsm->master->debug_level)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   755
        EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   756
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   757
    // write station address
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   758
    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
   759
    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   760
    fsm->retries = EC_FSM_RETRIES;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   761
    fsm->state = ec_fsm_master_state_rewrite_addresses;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   762
}
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   763
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   764
/*****************************************************************************/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   765
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   766
/**
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   767
   Master state: VALIDATE_PRODUCT.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   768
   Validates the product ID of a slave.
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   769
*/
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   770
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   771
void ec_fsm_master_state_validate_product(ec_fsm_master_t *fsm /**< master state machine */)
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   772
{
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   773
    ec_slave_t *slave = fsm->slave;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   774
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   775
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   776
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   777
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   778
        fsm->slave->error_flag = 1;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   779
        EC_ERR("Failed to validate product code of slave %i.\n",
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   780
               slave->ring_position);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   781
        fsm->state = ec_fsm_master_state_error;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   782
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   783
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   784
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   785
    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii.product_code) {
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   786
        EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   787
        EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii.product_code,
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   788
               EC_READ_U32(fsm->fsm_sii.value));
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   789
        fsm->state = ec_fsm_master_state_error;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   790
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   791
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   792
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   793
    // have all states been validated?
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   794
    if (slave->list.next == &fsm->master->slaves) {
642
3ed80c8ed616 Correctted resetting topology_change_pending and tainted flags.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   795
        fsm->topology_change_pending = 0;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
   796
        fsm->tainted = 0;
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   797
        fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   798
        // start writing addresses to offline slaves
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   799
        ec_fsm_master_action_addresses(fsm);
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   800
        return;
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   801
    }
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   802
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   803
    // validate next slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   804
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   805
    fsm->state = ec_fsm_master_state_validate_vendor;
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   806
    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008,
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   807
            EC_FSM_SII_USE_INCREMENT_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   808
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   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
/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   812
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   813
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   814
   Master state: REWRITE ADDRESS.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   815
   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
   816
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   817
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   818
void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   819
                                     /**< master state machine */
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   820
                                     )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   821
{
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   822
    ec_slave_t *slave = fsm->slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   823
    ec_datagram_t *datagram = fsm->datagram;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   824
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   825
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   826
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   827
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   828
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   829
        EC_ERR("Failed to receive address datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   830
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
   831
                slave->ring_position, datagram->state);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   832
        fsm->state = ec_fsm_master_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   833
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   834
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   835
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   836
    if (datagram->working_counter != 1) {
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   837
        EC_ERR("Failed to write station address of slave %i: ",
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   838
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   839
        ec_datagram_print_wc_error(datagram);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   840
        fsm->state = ec_fsm_master_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   841
        return;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   842
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   843
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   844
    if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   845
        fsm->state = ec_fsm_master_state_end;
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   846
        return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   847
    }
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   848
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   849
    // check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   850
    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   851
    // Write new station address to slave
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   852
    ec_fsm_master_action_addresses(fsm);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   853
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   854
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   855
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   856
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   857
/**
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   858
 * Master state: CLEAR ADDRESSES.
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   859
 */
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   860
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   861
void ec_fsm_master_state_clear_addresses(
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   862
        ec_fsm_master_t *fsm /**< master state machine */
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   863
        )
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   864
{
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   865
    ec_master_t *master = fsm->master;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   866
    ec_datagram_t *datagram = fsm->datagram;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   867
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   868
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   869
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   870
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   871
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   872
        EC_ERR("Failed to receive address clearing datagram (state %i).\n",
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   873
                datagram->state);
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   874
        master->scan_state = EC_REQUEST_FAILURE;
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   875
        wake_up_interruptible(&master->scan_queue);
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   876
        fsm->state = ec_fsm_master_state_error;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   877
        return;
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   878
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   879
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   880
    if (datagram->working_counter != master->slave_count) {
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   881
        EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   882
                datagram->working_counter, master->slave_count);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   883
    }
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   884
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   885
    EC_INFO("Scanning bus.\n");
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   886
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   887
    // begin scanning of slaves
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   888
    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   889
    fsm->state = ec_fsm_master_state_scan_slaves;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   890
    ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   891
    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
717
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   892
}
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   893
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   894
/*****************************************************************************/
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   895
87abf1166e88 Clear station addresses with broadcast before setting them.
Florian Pose <fp@igh-essen.com>
parents: 716
diff changeset
   896
/**
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   897
 * Master state: SCAN SLAVES.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   898
 * Executes the sub-statemachine for the scanning of a slave.
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   899
 */
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   900
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   901
void ec_fsm_master_state_scan_slaves(
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   902
        ec_fsm_master_t *fsm /**< master state machine */
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   903
        )
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   904
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   905
    ec_master_t *master = fsm->master;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   906
    ec_slave_t *slave = fsm->slave;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   907
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   908
    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) // execute slave state machine
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   909
        return;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   910
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   911
#ifdef EC_EOE
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   912
    if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   913
        // create EoE handler for this slave
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   914
        ec_eoe_t *eoe;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   915
        if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   916
            EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   917
                    slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   918
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   919
        else if (ec_eoe_init(eoe, slave)) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   920
            EC_ERR("Failed to init EoE handler for slave %u!\n",
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   921
                    slave->ring_position);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   922
            kfree(eoe);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   923
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   924
        else {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   925
            list_add_tail(&eoe->list, &master->eoe_handlers);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   926
        }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   927
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   928
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   929
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   930
    // another slave to fetch?
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   931
    if (slave->list.next != &master->slaves) {
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   932
        fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   933
        ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   934
        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   935
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   936
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   937
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   938
    EC_INFO("Bus scanning completed in %u ms.\n",
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
   939
            (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   940
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   941
    // Attach slave configurations
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   942
    ec_master_attach_slave_configs(master);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   943
716
ac2a81a33d3d Minor fix.
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   944
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   945
    // check if EoE processing has to be started
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   946
    ec_master_eoe_start(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   947
#endif
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   948
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   949
    master->scan_state = EC_REQUEST_SUCCESS;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   950
    wake_up_interruptible(&master->scan_queue);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
   951
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   952
    fsm->state = ec_fsm_master_state_end;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   954
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   955
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   956
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   957
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   958
   Master state: CONFIGURE SLAVES.
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   959
   Starts configuring a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   960
*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   961
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   962
void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   963
                                   /**< master state machine */
304
558a6669da90 Better master state machines.
Florian Pose <fp@igh-essen.com>
parents: 301
diff changeset
   964
                                   )
260
5fe7df7f2433 Correct behaviour of master state machine in RT mode.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   965
{
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   966
    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) // execute slave's state machine
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   967
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   968
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   969
    if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config))
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   970
        fsm->config_error = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   971
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   972
    // configure next slave, if necessary
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   973
    if (ec_fsm_master_action_configure(fsm))
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   974
        return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   975
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
   976
    fsm->state = ec_fsm_master_state_end;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   977
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   978
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   979
/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   980
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   981
/**
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   982
   Master state: WRITE SII.
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   983
*/
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   984
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   985
void ec_fsm_master_state_write_sii(
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   986
        ec_fsm_master_t *fsm /**< master state machine */)
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   987
{
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   988
    ec_master_t *master = fsm->master;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   989
    ec_sii_write_request_t *request = fsm->sii_request;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   990
    ec_slave_t *slave = request->slave;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
   991
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   992
    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   993
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   994
    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   995
        slave->error_flag = 1;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   996
        EC_ERR("Failed to write SII data to slave %i.\n",
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
   997
                slave->ring_position);
649
a4d3fffdaed7 Renamed names of enum type ec_request_state_t.
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   998
        request->state = EC_REQUEST_FAILURE;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   999
        wake_up(&master->sii_queue);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1000
        fsm->state = ec_fsm_master_state_error;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1001
        return;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1002
    }
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1003
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1004
    fsm->sii_index++;
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1005
    if (fsm->sii_index < request->word_size) {
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1006
        ec_fsm_sii_write(&fsm->fsm_sii, slave,
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1007
                request->word_offset + fsm->sii_index,
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1008
                request->data + fsm->sii_index * 2,
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1009
                EC_FSM_SII_USE_CONFIGURED_ADDRESS);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
  1010
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1011
        return;
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1012
    }
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1013
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1014
    // finished writing SII
607
7b1daa325c5f Implemented alias reading/writing via sysfs.
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
  1015
    if (master->debug_level)
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1016
        EC_DBG("Finished writing %u words of SII data to slave %u.\n",
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 743
diff changeset
  1017
                request->word_size, slave->ring_position);
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1018
    request->state = EC_REQUEST_SUCCESS;
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1019
    wake_up(&master->sii_queue);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1020
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1021
    // TODO: Evaluate new SII contents!
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1022
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1023
    // check for another SII write request
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1024
    if (ec_fsm_master_action_process_sii(fsm))
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1025
        return; // processing another request
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1026
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1027
    fsm->state = ec_fsm_master_state_end;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1028
}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1029
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1030
/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1031
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1032
/**
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
  1033
   Master state: SdoDICT.
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1034
*/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1035
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1036
void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */)
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1037
{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1038
    ec_slave_t *slave = fsm->slave;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1039
    ec_master_t *master = fsm->master;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1040
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1041
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1042
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1043
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1044
        fsm->state = ec_fsm_master_state_error;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1045
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1046
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1047
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
  1048
    // Sdo dictionary fetching finished
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1049
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1050
    if (master->debug_level) {
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1051
        unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1052
        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
  1053
        EC_DBG("Fetched %i Sdos and %i entries from slave %i.\n",
423
862ff892cf18 Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents: 422
diff changeset
  1054
               sdo_count, entry_count, slave->ring_position);
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1055
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1056
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1057
    fsm->state = ec_fsm_master_state_end;
269
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1058
}
a03be9a6fed6 EEPROM writing via SysFS.
Florian Pose <fp@igh-essen.com>
parents: 266
diff changeset
  1059
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1060
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1061
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1062
/**
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
  1063
   Master state: SDO REQUEST.
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1064
*/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1065
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1066
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1067
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1068
    ec_master_t *master = fsm->master;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
  1069
    ec_sdo_request_t *request = fsm->sdo_request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1070
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1071
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1072
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1073
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
  1074
        EC_DBG("Failed to process Sdo request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1075
                fsm->slave->ring_position);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
  1076
        request->state = EC_REQUEST_FAILURE;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1077
        wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1078
        fsm->state = ec_fsm_master_state_error;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1079
        return;
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1080
    }
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1081
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
  1082
    // Sdo request finished 
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1083
    request->state = EC_REQUEST_SUCCESS;
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1084
    wake_up(&master->sdo_queue);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1085
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1086
    if (master->debug_level)
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 853
diff changeset
  1087
        EC_DBG("Finished Sdo request for slave %u.\n",
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1088
                fsm->slave->ring_position);
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1089
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
  1090
    // check for another Sdo request
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1091
    if (ec_fsm_master_action_process_sdo(fsm))
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
  1092
        return; // processing another request
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1093
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1094
    fsm->state = ec_fsm_master_state_end;
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1095
}
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 429
diff changeset
  1096
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1097
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1098
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1099
/**
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1100
   State: ERROR.
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1101
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1102
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1103
void ec_fsm_master_state_error(
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1104
        ec_fsm_master_t *fsm /**< master state machine */
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1105
        )
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1106
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1107
    fsm->state = ec_fsm_master_state_start;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1108
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1109
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1110
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1111
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1112
/**
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1113
   State: END.
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1114
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 442
diff changeset
  1115
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1116
void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */)
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1117
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1118
    fsm->state = ec_fsm_master_state_start;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1119
}
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1120
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1121
/*****************************************************************************/
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1122