etherlabmaster: master/fsm_master.c@f789bdd78b54 (annotated)

238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	12	* License, or (at your option) any later version.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 238 diff changeset	31	*
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT finite state machines.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
329 d004349777fc SDO configuration interface, SDO download state machine. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	43	#include "mailbox.h"
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	44	#include "fsm_master.h"
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	45
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	46	/*****************************************************************************/
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	47
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	48	void ec_fsm_master_state_start(ec_fsm_master_t *);
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	49	void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
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	50	void ec_fsm_master_state_read_states(ec_fsm_master_t *);
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	51	void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
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	52	void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
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	53	void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
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	54	void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *);
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	55	void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
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	56	void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
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	57	void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
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	58	void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
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	59	void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
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	60	void ec_fsm_master_state_end(ec_fsm_master_t *);
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	61	void ec_fsm_master_state_error(ec_fsm_master_t *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	62
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	64
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	65	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	66	Constructor.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	67	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	68
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	69	void ec_fsm_master_init(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	70	ec_master_t master, /< EtherCAT master /
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	71	ec_datagram_t datagram /< datagram object to use /
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	72	)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	fsm->master = master;
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	75	fsm->datagram = datagram;
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	76	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	77	fsm->slaves_responding = 0;
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	78	fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
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	79	fsm->validate = 0;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	81	// init sub-state-machines
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	82	ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram);
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	83	ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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	84	ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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	85	ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	87
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	90	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	91	Destructor.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	92	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	93
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	94	void ec_fsm_master_clear(ec_fsm_master_t fsm /< master state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	{
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	96	// clear sub-state machines
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	97	ec_fsm_slave_clear(&fsm->fsm_slave);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	98	ec_fsm_sii_clear(&fsm->fsm_sii);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	99	ec_fsm_change_clear(&fsm->fsm_change);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	100	ec_fsm_coe_clear(&fsm->fsm_coe);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	102
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	104
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	105	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	106	Executes the current state of the state machine.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	107	If the state machine's datagram is not sent or received yet, the execution
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	108	of the state machine is delayed to the next cycle.
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	109	\return false, if state machine has terminated
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	110	*/
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	111
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	112	int ec_fsm_master_exec(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	113	{
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	114	if (fsm->datagram->state == EC_DATAGRAM_SENT
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	115	\|\| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	116	// datagram was not sent or received yet.
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	117	return ec_fsm_master_running(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	118	}
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	119
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	120	fsm->state(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	121	return ec_fsm_master_running(fsm);
456 dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	122	}
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	123
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	124	/*****************************************************************************/
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	125
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	126	/**
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	127	\return false, if state machine has terminated
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	128	*/
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	129
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	130	int ec_fsm_master_running(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	131	{
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	132	return fsm->state != ec_fsm_master_state_end
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	133	&& fsm->state != ec_fsm_master_state_error;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	134	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	135
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	136	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	137
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	138	/**
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	139	\return true, if the master state machine terminated gracefully
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	140	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	141
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	142	int ec_fsm_master_success(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	143	{
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	144	return fsm->state == ec_fsm_master_state_end;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	145	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	146
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	/******************************************************************************
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	148	* operation/idle state machine
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	150
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	/**
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	152	Master state: START.
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	Starts with getting slave count and slave states.
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	*/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
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	156	void ec_fsm_master_state_start(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	157	{
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	158	ec_datagram_brd(fsm->datagram, 0x0130, 2);
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	159	ec_master_queue_datagram(fsm->master, fsm->datagram);
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	160	fsm->state = ec_fsm_master_state_broadcast;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	161	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	162
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	163	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	164
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	165	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	166	Master state: BROADCAST.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	167	Processes the broadcast read slave count and slaves states.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	168	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	169
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	170	void ec_fsm_master_state_broadcast(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	171	{
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	172	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	173	unsigned int topology_change, states_change, i;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	ec_slave_t *slave;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	175	ec_master_t *master = fsm->master;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	176
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	177	if (datagram->state == EC_DATAGRAM_TIMED_OUT) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	178	// always retry
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	179	ec_master_queue_datagram(fsm->master, fsm->datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	180	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	181	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	182
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	183	if (datagram->state != EC_DATAGRAM_RECEIVED) { // EC_DATAGRAM_ERROR
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	184	// link is down
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	185	fsm->slaves_responding = 0;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	186	list_for_each_entry(slave, &master->slaves, list) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	187	slave->online = 0;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	188	}
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	189	fsm->state = ec_fsm_master_state_error;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	192
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	193	topology_change = (datagram->working_counter !=
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	194	fsm->slaves_responding);
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	195	states_change = (EC_READ_U8(datagram->data) != fsm->slave_states);
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	196
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	197	fsm->slave_states = EC_READ_U8(datagram->data);
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	198	fsm->slaves_responding = datagram->working_counter;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	199
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	200	if (topology_change) {
262 636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	201	EC_INFO("%i slave%s responding.\n",
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	202	fsm->slaves_responding,
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	203	fsm->slaves_responding == 1 ? "" : "s");
262 636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	204
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	205	if (master->mode == EC_MASTER_MODE_OPERATION) {
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	206	if (fsm->slaves_responding == master->slave_count) {
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	207	fsm->validate = 1; // start validation later
262 636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	208	}
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	209	else {
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	210	EC_WARN("Invalid slave count. Bus in tainted state.\n");
636d43737371 Corrected output at slave count change. Florian Pose <fp@igh-essen.com> parents: 260 diff changeset	211	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	212	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	213	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	214
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	215	if (states_change) {
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	216	char states[EC_STATE_STRING_SIZE];
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	217	ec_state_string(fsm->slave_states, states);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	218	EC_INFO("Slave states: %s.\n", states);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	219	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	220
306 45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 304 diff changeset	221	// topology change in idle mode: clear all slaves and scan the bus
45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 304 diff changeset	222	if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	223
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	224	ec_master_eoe_stop(master);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	225	ec_master_destroy_slaves(master);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	226
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	227	master->slave_count = datagram->working_counter;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	228
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	229	if (!master->slave_count) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	230	// no slaves present -> finish 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	231	fsm->state = ec_fsm_master_state_end;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	232	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	233	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	234
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	235	// init slaves
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	236	for (i = 0; i < master->slave_count; i++) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	237	if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	238	GFP_ATOMIC))) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	239	EC_ERR("Failed to allocate slave %i!\n", i);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	240	ec_master_destroy_slaves(master);
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	241	fsm->state = ec_fsm_master_state_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	242	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	243	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	244
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	245	if (ec_slave_init(slave, master, i, i + 1)) {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	246	// freeing of "slave" already done
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	247	ec_master_destroy_slaves(master);
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	248	fsm->state = ec_fsm_master_state_error;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	249	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	250	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	251
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	252	list_add_tail(&slave->list, &master->slaves);
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	253	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	254
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	255	EC_INFO("Scanning bus.\n");
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	256
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	257	// begin scanning of slaves
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	258	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	259	ec_fsm_slave_start_scan(&fsm->fsm_slave, slave);
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	260	ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
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	261	fsm->state = ec_fsm_master_state_scan_slaves;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	262	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	263	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	264
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	265	// fetch state from each slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	266	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	267	ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
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	268	ec_master_queue_datagram(master, fsm->datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	269	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	270	fsm->state = ec_fsm_master_state_read_states;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	271	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	272
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	273	/*****************************************************************************/
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	274
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	275	/**
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	276	Master action: PROC_STATES.
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	277	Processes the slave states.
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	278	*/
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	279
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	280	void ec_fsm_master_action_process_states(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	281	/*< master state machine /
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	282	)
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	283	{
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	284	ec_master_t *master = fsm->master;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	285	ec_slave_t *slave;
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	286	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	287
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	288	// check if any slaves are not in the state, they're supposed to be
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	289	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	290	if (slave->error_flag
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup. Florian Pose <fp@igh-essen.com> parents: 420 diff changeset	291	\|\| !slave->online
2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup. Florian Pose <fp@igh-essen.com> parents: 420 diff changeset	292	\|\| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
523 584a4f60b067 Re-added slave.configured flag as slave.self_configured. Florian Pose <fp@igh-essen.com> parents: 522 diff changeset	293	\|\| (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	294	&& 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	295
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	296	if (master->debug_level) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	297	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	298	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	299	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	300	EC_DBG("Changing state of slave %i (%s -> %s).\n",
584a4f60b067 Re-added slave.configured flag as slave.self_configured. Florian Pose <fp@igh-essen.com> parents: 522 diff changeset	301	slave->ring_position, old_state, new_state);
584a4f60b067 Re-added slave.configured flag as slave.self_configured. Florian Pose <fp@igh-essen.com> parents: 522 diff changeset	302	}
584a4f60b067 Re-added slave.configured flag as slave.self_configured. Florian Pose <fp@igh-essen.com> parents: 522 diff changeset	303	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	304	EC_DBG("Reconfiguring slave %i (%s).\n",
584a4f60b067 Re-added slave.configured flag as slave.self_configured. Florian Pose <fp@igh-essen.com> parents: 522 diff changeset	305	slave->ring_position, old_state);
584a4f60b067 Re-added slave.configured flag as slave.self_configured. Florian Pose <fp@igh-essen.com> parents: 522 diff changeset	306	}
421 2b3ce4f51bd6 Reconfiguration of slaves, though they are in the correct state at startup. Florian Pose <fp@igh-essen.com> parents: 420 diff changeset	307	}
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	308
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	309	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	310	ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
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	311	ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
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	312	fsm->state = ec_fsm_master_state_configure_slave;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	313	return;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	314	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	315
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	316	// Check, if EoE processing has to be started
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	317	ec_master_eoe_start(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	318
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	319	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	320
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	321	// Check for a pending SDO request
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	322	if (master->sdo_seq_master != master->sdo_seq_user) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	323	if (master->debug_level)
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	324	EC_DBG("Processing SDO request...\n");
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	325	slave = master->sdo_request->sdo->slave;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	326	if (slave->current_state == EC_SLAVE_STATE_INIT
475 e712a42446af Allow CoE requests, even if slave has error flag set. Florian Pose <fp@igh-essen.com> parents: 470 diff changeset	327	\|\| !slave->online) {
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	328	EC_ERR("Failed to process SDO request, slave %i not ready.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	329	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	330	master->sdo_request->return_code = -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	331	master->sdo_seq_master++;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	332	}
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	333	else {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	334	// start uploading SDO
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	335	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	336	fsm->state = ec_fsm_master_state_sdo_request;
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	337	fsm->sdo_request = master->sdo_request;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	338	ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	339	ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	340	return;
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	341	}
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	342	}
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	343
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	344	// check, if slaves have an SDO dictionary to read out.
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	345	list_for_each_entry(slave, &master->slaves, list) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	346	if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	347	\|\| 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	348	\|\| 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	349	\|\| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	350	\|\| !slave->online
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	351	\|\| 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	352
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	353	if (master->debug_level) {
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	354	EC_DBG("Fetching SDO dictionary from slave %i.\n",
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	355	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	356	}
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	357
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	358	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	359
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	360	// start fetching SDO dictionary
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 437 diff changeset	361	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	362	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	363	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	364	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	365	return;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 437 diff changeset	366	}
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	367
6607875255d9 SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	368	// check for pending EEPROM write operations.
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	369	list_for_each_entry(slave, &master->slaves, list) {
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	370	if (!slave->new_eeprom_data) continue;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	371
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	372	if (!slave->online \|\| slave->error_flag) {
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	373	kfree(slave->new_eeprom_data);
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	374	slave->new_eeprom_data = NULL;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	375	EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	376	slave->ring_position);
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	377	continue;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	378	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	379
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	380	// found pending EEPROM write operation. execute it!
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	381	EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
470 4ec31555832b Fixed EEPROM writing. Florian Pose <fp@igh-essen.com> parents: 462 diff changeset	382	fsm->slave = slave;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	383	fsm->sii_offset = 0x0000;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	384	ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	385	slave->new_eeprom_data, EC_FSM_SII_NODE);
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	386	fsm->state = ec_fsm_master_state_write_eeprom;
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	387	fsm->state(fsm); // execute immediately
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	388	return;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	389	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	390	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	391
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	392	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	393	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	394
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	395	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	396
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	397	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	398	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	399	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	400
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	401	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	402	/*< master state machine /)
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	403	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	404	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	405	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	406
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	407	// 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	408	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	409	// process next slave
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	410	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	411	ec_datagram_nprd(fsm->datagram, fsm->slave->station_address,
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	412	0x0130, 2);
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	413	ec_master_queue_datagram(master, fsm->datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	414	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	415	fsm->state = ec_fsm_master_state_read_states;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	416	return;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	417	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	418
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	419	// all slave states read
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	420
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	421	// 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	422	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	423	fsm->validate = 0;
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	424	list_for_each_entry(slave, &master->slaves, list) {
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	425	if (slave->online) continue;
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	426
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	427	// 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	428	EC_INFO("Validating bus.\n");
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	429	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	430	fsm->state = ec_fsm_master_state_validate_vendor;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	431	ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	432	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	433	return;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	434	}
292 2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	435	}
2cf6ae0a2419 Minor changes in fsm.c and slave.c Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	436
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	437	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	438	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	439
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	440	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	441
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	442	/**
409 bc4c852e1b93 Implemented fetching of SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 407 diff changeset	443	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	444	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	445	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	446
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	447	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	448	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	449	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	450	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	451	uint8_t new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	452
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	453	if (datagram->state == EC_DATAGRAM_TIMED_OUT && 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	454	ec_master_queue_datagram(fsm->master, fsm->datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	455	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	456	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	457
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	458	if (datagram->state != EC_DATAGRAM_RECEIVED) {
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	459	EC_ERR("Failed to receive AL state datagram for slave %i!\n",
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	460	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	461	fsm->state = ec_fsm_master_state_error;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	462	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	463	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	464
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	465	// did the slave not respond to its station address?
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	466	if (datagram->working_counter != 1) {
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	467	if (slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	468	slave->online = 0;
461 b9eda9235173 Print certain warnings only at debug_level. Florian Pose <fp@igh-essen.com> parents: 459 diff changeset	469	if (slave->master->debug_level)
459 f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	470	EC_DBG("Slave %i: offline.\n", slave->ring_position);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	471	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	472	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	473	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	474	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	475
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	476	// slave responded
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	477	new_state = EC_READ_U8(datagram->data);
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	478	if (!slave->online) { // slave was offline before
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	479	slave->online = 1;
291 0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine. Florian Pose <fp@igh-essen.com> parents: 290 diff changeset	480	slave->error_flag = 0; // clear error flag
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	481	slave->current_state = new_state;
461 b9eda9235173 Print certain warnings only at debug_level. Florian Pose <fp@igh-essen.com> parents: 459 diff changeset	482	if (slave->master->debug_level) {
459 f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	483	char cur_state[EC_STATE_STRING_SIZE];
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	484	ec_state_string(slave->current_state, cur_state);
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	485	EC_DBG("Slave %i: online (%s).\n",
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	486	slave->ring_position, cur_state);
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	487	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	488	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	489	else if (new_state != slave->current_state) {
461 b9eda9235173 Print certain warnings only at debug_level. Florian Pose <fp@igh-essen.com> parents: 459 diff changeset	490	if (slave->master->debug_level) {
459 f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	491	char old_state[EC_STATE_STRING_SIZE],
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	492	cur_state[EC_STATE_STRING_SIZE];
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	493	ec_state_string(slave->current_state, old_state);
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	494	ec_state_string(new_state, cur_state);
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	495	EC_DBG("Slave %i: %s -> %s.\n",
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	496	slave->ring_position, old_state, cur_state);
f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 456 diff changeset	497	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	498	slave->current_state = new_state;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	499	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	500
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	501	// 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	502	if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	503	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	504	ec_fsm_change_exec(&fsm->fsm_change);
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	505	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	506	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	507	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	508
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	509	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	510	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	511
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	512	/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	513
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	514	/**
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	515	Master state: ACKNOWLEDGE
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	516	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	517
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	518	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	519	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	520	ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	521
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	522	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	523
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	524	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	525	fsm->slave->error_flag = 1;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	526	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	527	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	528	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	529	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	530	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	531
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	532	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	533	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	534
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	535	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	536
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	537	/**
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	538	Master state: VALIDATE_VENDOR.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	539	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	540	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	541
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	542	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	543	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	544	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	545
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	546	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	547
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	548	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	549	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	550	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	551	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	552	fsm->state = ec_fsm_master_state_error;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	553	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	554	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	555
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	556	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	557	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	558	fsm->state = ec_fsm_master_state_error;
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	559	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	560	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	561
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	562	// 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	563	fsm->state = ec_fsm_master_state_validate_product;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	564	ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	565	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	566	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	567
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	568	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	569
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	570	/**
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	571	Master action: ADDRESS.
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	572	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	573	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	574	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	575
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	576	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	577	{
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	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	579
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	580	while (fsm->slave->online) {
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	581	if (fsm->slave->list.next == &fsm->master->slaves) { // last 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	582	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	583	fsm->state(fsm); // execute immediately
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	584	return;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	}
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	586	// check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	587	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	588	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	589
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	590	if (fsm->master->debug_level)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	591	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	592
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	593	// write station address
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	594	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	595	EC_WRITE_U16(datagram->data, fsm->slave->station_address);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	596	ec_master_queue_datagram(fsm->master, datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	597	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	598	fsm->state = ec_fsm_master_state_rewrite_addresses;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	599	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	600
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	601	/*****************************************************************************/
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	602
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	Master state: VALIDATE_PRODUCT.
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	605	Validates the product ID of a slave.
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
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	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	609	{
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	610	ec_slave_t *slave = fsm->slave;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	611
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	612	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	613
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	614	if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	615	fsm->slave->error_flag = 1;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	616	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	617	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	618	fsm->state = ec_fsm_master_state_error;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	619	return;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	620	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	621
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	622	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	623	EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	624	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	625	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	626	fsm->state = ec_fsm_master_state_error;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	627	return;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	628	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	629
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	630	// have all states been validated?
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	631	if (slave->list.next == &fsm->master->slaves) {
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	632	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	633	// start writing addresses to offline slaves
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	634	ec_fsm_master_action_addresses(fsm);
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	635	return;
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	636	}
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	637
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	638	// validate next slave
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	639	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	640	fsm->state = ec_fsm_master_state_validate_vendor;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	641	ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	642	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	643	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	644
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	645	/*****************************************************************************/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	646
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	647	/**
409 bc4c852e1b93 Implemented fetching of SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 407 diff changeset	648	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	649	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	650	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	651
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	652	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	653	/*< master state machine /
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	654	)
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	655	{
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	656	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	657	ec_datagram_t *datagram = fsm->datagram;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 292 diff changeset	658
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	659	if (datagram->state == EC_DATAGRAM_TIMED_OUT && 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	660	ec_master_queue_datagram(fsm->master, fsm->datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	661	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	662	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	663
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	664	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	665	EC_ERR("Failed to receive address datagram for slave %i.\n",
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	666	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	667	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	668	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	669	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	670
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	671	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	672	EC_ERR("Failed to write station address - slave %i did not respond.\n",
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 484 diff changeset	673	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	674	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	675	return;
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	676	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	677
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	678	if (fsm->slave->list.next == &fsm->master->slaves) { // last 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	679	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	680	fsm->state(fsm); // execute immediately
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	681	return;
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	682	}
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	683
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	684	// check next slave
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	685	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	686	// Write new station address to slave
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	687	ec_fsm_master_action_addresses(fsm);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	688	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	689
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	690	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	691
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	692	/**
409 bc4c852e1b93 Implemented fetching of SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 407 diff changeset	693	Master state: SCAN SLAVES.
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	694	Executes the sub-statemachine for the scanning of a slave.
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	695	*/
5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	696
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	697	void ec_fsm_master_state_scan_slaves(ec_fsm_master_t fsm /< master state machine /)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	698	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	699	ec_master_t *master = fsm->master;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	700	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	701
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	702	if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave 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	703	return;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	704
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	705	// another slave to fetch?
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	706	if (slave->list.next != &master->slaves) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	707	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	708	ec_fsm_slave_start_scan(&fsm->fsm_slave, slave);
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	709	ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	710	return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	711	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	712
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	713	EC_INFO("Bus scanning completed.\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	714
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	715	ec_master_calc_addressing(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	716
428 2731a2fcc18d Set initial state of all slaves to PREOP. Florian Pose <fp@igh-essen.com> parents: 427 diff changeset	717	// set initial states of all slaves to PREOP to make mailbox
2731a2fcc18d Set initial state of all slaves to PREOP. Florian Pose <fp@igh-essen.com> parents: 427 diff changeset	718	// communication possible
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	719	list_for_each_entry(slave, &master->slaves, list) {
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	720	ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	721	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	722
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	723	fsm->state = ec_fsm_master_state_end;
238 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
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	726	/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	727
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	728	/**
409 bc4c852e1b93 Implemented fetching of SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 407 diff changeset	729	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	730	Starts configuring a slave.
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
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	733	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	734	/*< master state machine /
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	735	)
260 5fe7df7f2433 Correct behaviour of master state machine in RT mode. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	736	{
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	737	if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's 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	738	return;
304 558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	739
558a6669da90 Better master state machines. Florian Pose <fp@igh-essen.com> parents: 301 diff changeset	740	ec_fsm_master_action_process_states(fsm);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	741	}
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: diff changeset	742
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	743	/*****************************************************************************/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	744
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	745	/**
409 bc4c852e1b93 Implemented fetching of SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 407 diff changeset	746	Master state: WRITE EEPROM.
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	747	*/
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	748
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	749	void ec_fsm_master_state_write_eeprom(ec_fsm_master_t fsm /< master state machine /)
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	750	{
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	751	ec_slave_t *slave = fsm->slave;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	752
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	753	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	754
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	755	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	756	fsm->slave->error_flag = 1;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	757	EC_ERR("Failed to write EEPROM contents to slave %i.\n",
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	758	slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	759	kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	760	slave->new_eeprom_data = NULL;
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_error;
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	762	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	763	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	764
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	765	fsm->sii_offset++;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	766	if (fsm->sii_offset < slave->new_eeprom_size) {
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	767	ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	768	slave->new_eeprom_data + fsm->sii_offset,
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	769	EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	770	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	771	return;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	772	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	773
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	774	// finished writing EEPROM
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	775	EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	776	kfree(slave->new_eeprom_data);
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	777	slave->new_eeprom_data = NULL;
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	778
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	779	// TODO: Evaluate new EEPROM contents!
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 312 diff changeset	780
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	781	// restart master 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	782	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	783	fsm->state(fsm); // execute immediately
419 cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	784	}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	785
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	786	/*****************************************************************************/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	787
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	788	/**
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	789	Master state: SDODICT.
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	790	*/
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	791
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	792	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	793	{
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	794	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	795	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	796
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	797	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	798
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	799	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	800	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	801	return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	802	}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	803
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	804	// SDO dictionary fetching finished
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	805
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	806	if (master->debug_level) {
423 862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 422 diff changeset	807	unsigned int sdo_count, entry_count;
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 422 diff changeset	808	ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 422 diff changeset	809	EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
862ff892cf18 Better debugging output for SDO dictionaries. Florian Pose <fp@igh-essen.com> parents: 422 diff changeset	810	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	811	}
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	812
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj. Florian Pose <fp@igh-essen.com> parents: 411 diff changeset	813	// restart master 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	814	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	815	fsm->state(fsm); // execute immediately
269 a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	816	}
a03be9a6fed6 EEPROM writing via SysFS. Florian Pose <fp@igh-essen.com> parents: 266 diff changeset	817
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	818	/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	819
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	820	/**
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	821	Master state: SDO REQUEST.
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	822	*/
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	823
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	824	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	825	{
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	826	ec_master_t *master = fsm->master;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	827	ec_sdo_request_t *request = fsm->sdo_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	828
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	829	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	830
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	831	if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	832	request->return_code = -1;
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 437 diff changeset	833	master->sdo_seq_master++;
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	834	fsm->state = ec_fsm_master_state_error;
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	835	return;
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	836	}
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	837
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	838	// SDO dictionary fetching finished
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	839
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	840	request->return_code = 1;
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 437 diff changeset	841	master->sdo_seq_master++;
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	842
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	843	// restart master 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	844	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	845	fsm->state(fsm); // execute immediately
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	846	}
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 429 diff changeset	847
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	848	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	849
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	850	/**
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	851	State: ERROR.
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	852	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	853
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	854	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	855	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	856	)
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	857	{
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	858	fsm->state = ec_fsm_master_state_start;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	859	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	860
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	861	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	862
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	863	/**
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	864	State: END.
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	865	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 442 diff changeset	866
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	867	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	868	{
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	869	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	870	}
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	871
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	872	/*****************************************************************************/
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	873

author	Florian Pose <fp@igh-essen.com>
	Wed, 10 Jan 2007 16:32:06 +0000
changeset 528	f789bdd78b54
parent 523	master/fsm.c@584a4f60b067
child 530	3e0611dfe020
permissions	-rw-r--r--